第1章绪言INTRODUCTION1
1.1机构与机器的定义Definitions of mechanism and machine1
1.2机构与机器设计的步骤Procedure for mechanism and machine design3
1.3机构与机器设计的课程Courses on mechanism and machine design4
1.4机构学的内容Scope of mechanism5
习题Problems5
第2章机构的组成FORMATION OF MECHANISMS6
2.1构件Machine members6
2.2运动副与铰链Kinematic pairs and joints7
2.3机构Mechanism9
2.4简图符号Schematic representation10
*2.5运动链Kinematic chain13
*2.6拓扑结构Topological structure17
习题Problems19
第3章确定性运动CONSTRAINED MOTION20
3.1自由度Degrees of freedom20
3.1.1平面机构Planar mechanism20
3.1.2空间机构Spatial mechanism22
3.2确定性运动Constrained motion23
*3.3冗余自由度Redundant degrees of freedom26
*3.4矛盾过约束机构Paradoxical overconstrained mechanism26
*3.5构造综合Structural synthesis27
习题Problems30
第4章机构的运动MOTION OF MECHANISMS31
4.1基本概念Fundamental concepts31
4.1.1运动与路径Motion and path31
4.1.2平移与旋转Translation and rotation31
4.1.3循环与周期Cycle and period32
4.2运动分类Classification of motion32
4.2.1根据路径形式分类Classification based on types of path32
4.2.2根据运动连续性分类Classification based on continuity of motion33
4.3质点的直线运动Rectilinear motion of particles33
4.3.1线位移Linear displacement33
4.3.2线速度Linear velocity34
4.3.3线加速度Linear acceleration35
4.3.4线跃度Linear jerk35
4.4构件的角运动Angular motion of members36
4.4.1角位移Angular displacement36
4.4.2角速度Angular velocity37
4.4.3角加速度Angular acceleration38
4.5切向与法向加速度Tangential and normal accelerations38
*4.6移动坐标系内质点的运动Motion of particles in moving coordinate systems39
习题Problems42
第5章连杆机构LINKAGE MECHANNISMS43
5.1四杆机构Fourbar linkages43
5.1.1术语与符号Terminology and symbols44
5.1.2四杆机构的类型Types of fourbar linkages44
5.1.3变点机构Change point mechanism47
5.1.4极限位置（肘杆位置）与死点位置Limit positions（toggle positions）and
dead center positions48
5.1.5传动角Transmission angles48
5.1.6连杆曲线Coupler curves49
5.2含有滑块的四杆机构Fourbar linkage mechanisms with sliders50
5.2.1单滑块四杆机构Fourbar linkage mechanisms with single slider51
5.2.2双滑块四杆机构Fourbar linkage mechanisms with double sliders53
5.3复杂连杆机构Complex linkage mechanisms56
5.4急回机构Quickreturn mechanisms58
5.4.1牵杆机构Drag link mechanism58
5.4.2惠氏急回机构Whitworth quickreturn mechanism59
5.4.3牛头刨床急回机构Crankshaper quickreturn mechanism59
5.4.4偏置曲柄滑块机构Offset slidercrank mechanism60
5.5平行导向机构Parallel motion mechanisms61
5.5.1平行四边形机构Parallelogram62
5.5.2缩放仪Pantograph63
*5.6直线运动机构Straightline motion mechanisms64
5.6.1司罗氏直线机构ScottRussell′s straightline mechanism64
5.6.2哈氏直线机构Hart′s straightline mechanism64
5.6.3波氏直线机构Peaucellier′s straightline mechanism65
5.6.4肯氏直线机构Kempe′s straightline mechanism65
5.6.5沙氏直线机构Sarrut′s straightline mechanism66
5.6.6伊氏直线机构Evans′ straightline mechanism66
5.6.7罗伯氏直线机构Robert′s straightline mechanism66
5.6.8切氏直线机构Chebyshev′s straightline mechanism66
5.6.9瓦特氏直线机构Watt′s straightline mechanism67
5.7肘杆机构Toggle mechanisms67
5.8球面机构Spherical mechanisms69
5.8.1球面四杆机构Spherical fourbar linkage69
5.8.2万向联轴器Universal joint70
习题Problems72
第6章位置分析POSITION ANALYSIS74
6.1图解法Graphical method74
6.2封闭向量法Vector loop method76
6.2.1封闭向量法的步骤Procedure for vector loop method76
6.2.2建立坐标系Selection of the coordinate system77
6.2.3向量定义Definition of vectors78
6.2.4封闭向量方程Vector loop equations80
6.2.5滚动接触方程Rolling contact equations81
6.3位移方程求解Solutions of displacement equations84
6.3.1封闭解Closedform solution84
6.3.2数值解Numerical solution91
6.4计算机辅助位置分析Computeraided position analysis98
习题Problems106
第7章速度分析VELOCITY ANALYSIS111
7.1瞬心法Instant center method111
7.1.1瞬心的定义Definition of instant centers111
7.1.2三心定理Theorem of three centros112
7.1.3瞬心求法Determinati
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