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CHAPTER 1: MOTION CONTROL SYSTEMS 1

Motion Control Systems Overview 2 Glossary of Motion Control Terms 9 High-Speed Gearheads Improve Small Servo Performance 10

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CHAPTER 2: ROBOT MECHANISMS 33

Industrial Robots 34 FANUC Robot Specifications 38 Mechanism for Planar Manipulation With Simplified Kinematics 43

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CHAPTER 3: PARTS-HANDLING MECHANISMS 51 .................................

Machine Applies Labels from Stacks or Rollers 75 High-Speed Machines for Adhesive Applications 76 Automatic Stopping Mechanisms for Faulty Machine Operation 82 Electrical Automatic Stopping Mechanisms 88 Automatic Safety Mechanisms for Operating Machines 90

CHAPTER 4: RECIPROCATING AND GENERAL-PURPOSE MECHANISM 93

Gears and Eccentric Disk Combine in Quick Indexing 94 Timung Belts, Four-Bar Linkage Team Up for Smooth Indexing 95 Modified Ratchet Drive 96

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CHAPTER 5: SPECIAL-PURPOSE MECHANISMS 127

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Eighteen Variations of Differential Linkage 163 Space Mechanisms 165 Seven Popular Types of Three-Dimensional Drives 167 Inchworm Actuator 172

CHAPTER 6: SPRING, BELLOW, FLEXURE, SCREW, AND BALL DEVICES 173

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Seven Special Screw Arrangements 195 Fourteen Adjusting Devices 196 Linear Roller Bearings Are Suited for High-Load, Heavy-Duty Tasks 197

CHAPTER 7: CAM,TOGGLE, CHAIN, AND BELT MECHANISMS 199

Cam Basics 200 Cam-Curve Generating Mechanisms 201 Fifteen Ideas for Cam Mechanisms 207 Special-Function Cams 209

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CHAPTER 8: GEARED SYSTEMS AND VARIABLE-SPEED MECHANISMS 241

Gears and Gearing 242 Nutating-Plate Drive 243 Cone Drive Needs No Gears or Pulleys 244 Variable-Speed Mechanical Drives 245 Unidirectional Drive 253

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CHAPTER 9: COUPLING, CLUTCHING, AND BRAKING DEVICES 293

Coupling of Parallel Shafts 294 Novel Linkage Couples Offset Shafts 295 Disk-and-Link Coupling Simplifies Transmissions 296 Interlocking Space-Frames Flex as They Transmit Shaft Torque 297

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Special Coupling Mechanisms 337 Link Coupling Mechanisms 338

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CHAPTER 10: TORQUE-LIMITING,TENSIONING, AND GOVERNING DEVICES 339 ...............................

Floating-Pinion Torque Splitter 367

CHAPTER 11: PNEUMATIC AND HYDRAULIC MACHINE AND MECHANISM CONTROL 369

Designs and Operating Principles of Typical Pumps 370 Rotary-Pump Mechanisms 374 Mechanisms Actuated by Pneumatic or Hydraulic Cylinders 376

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CHAPTER 14: NEW DIRECTIONS IN MACHINE DESIGN 463

Software Improvements Expand CAD Capabilities 464 New Processes Expand Choices for Rapid Prototyping 468 Micromachines Open a New Frontier for Machine Design 475 Multilevel Fabrication Permits More Complex and Functional MEMS 478