| Preface to the second English edition | 6 |
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| Preface to the second German edition | 8 |
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| Contents | 10 |
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| Index of Tables | 14 |
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| Notation | 18 |
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| Chronological Table | 22 |
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| 1 Universal Jointed Driveshafts for Transmitting Rotational Movements | 24 |
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| 1.1 Early Reports on the First Joints | 24 |
| 1.1.1 Hooke s Universal Joints | 24 |
| 1.2 Theory of the Transmission of Rotational Movements by Hooke s Joints | 28 |
| 1.2.1 The Non-Uniformity of Hooke s Joints According to Poncelet | 28 |
| 1.2.2 The Double Hooke s Joint to Avoid Non-uniformity | 31 |
| 1.2.3 D Ocagne s Extension of the Conditions for Constant Velocity | 33 |
| 1.2.4 Simplification of the Double Hooke s Joint | 33 |
| 1.3 The Ball Joints | 40 |
| 1.3.1 Weiss and Rzeppa Ball Joints | 42 |
| 1.3.2 Developments Towards the Plunging Joint | 50 |
| 1.4 Development of the Pode-Joints | 55 |
| 1.5 First Applications of the Science of Strength of Materials to Driveshafts | 63 |
| 1.5.1 Designing Crosses Against Bending | 63 |
| 1.5.2 Designing Crosses Against Surface Stress | 65 |
| 1.5.3 Designing Driveshafts for Durability | 70 |
| 1.6 Literature to Chapter 1 | 72 |
| 2 Theory or Constant Velocity Joints | 76 |
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| 2.1 The Origin of Constant Velocity Joints | 77 |
| 2.2 First Indirect Method of Proving Constant Velocity According to Metzner | 81 |
| 2.2.1 Effective Geometry with Straight Tracks | 84 |
| 2.2.2 Effective Geometry with Circular Tracks | 87 |
| 2.3 Second, Direct Method of Proving Constant Velocity by Orain | 89 |
| 2.3.1 Polypode Joints | 94 |
| 2.3.2 The Free Tripode Joint | 98 |
| 2.4 Literature to Chapter 2 | 101 |
| 3 Hertzian Theory and the Limits of Its Application | 104 |
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| 3.1 Systems of Coordinates | 105 |
| 3.2 Equations of Body Surfaces | 106 |
| 3.3 Calculating the Coefficient cos t | 108 |
| 3.4 Calculating the Deformation d at the Contact Face | 111 |
| 3.5 Solution of the Elliptical Single Integrals J1 to J4 | 117 |
| 3.6 Calculating the Elliptical Integrals K and E | 120 |
| 3.7 Semiaxes of the Elliptical Contact Face for Point Contact | 121 |
| 3.8 The Elliptical Coefficients µ and . | 124 |
| 3.9 Width of the Rectangular Contact Surface for Line Contact | 124 |
| 3.10 Deformation and Surface Stress at the Contact Face | 127 |
| 3.10.1 Point Contact | 127 |
| 3.10.2 Line Contact | 128 |
| 3.11 The validity of the Hertzian theory on ball joints | 129 |
| 3.12 Literature to Chapter 3 | 130 |
| 4 Designing Joints and Driveshafts | 132 |
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| 4.1 Design Principles | 132 |
| 4.1.1 Comparison of Theory and Practice by Franz Karas 1941 | 133 |
| 4.1.2 Static Stress | 134 |
| 4.1.3 Dynamic Stress and Durability | 135 |
| 4.1.4 Universal Torque Equation for Joints | 137 |
| 4.2 Hooke s Joints and Hooke s Jointed Driveshafts | 139 |
| 4.2.1 The Static Torque Capacity M0 | 140 |
| 4.2.2 Dynamic Torque Capacity Md | 141 |
| 4.2.3 Mean Equivalent Compressive Force Pm | 142 |
| 4.2.4 Approximate Calculation of the Equivalent Compressive Force Pm | 147 |
| 4.2.5 Dynamic Transmission Parameter 2 CR | 149 |
| 4.2.6 Motor Vehicle Driveshafts | 153 |
| 4.2.7 GWB s Design Methodology for Hooke s joints for Vehicles | 156 |
| 4.2.8 Maximum Values for Speed and Articulation Angle | 161 |
| 4.2.9 Critical Speed and Shaft Bending Vibration | 163 |
| 4.2.10 Double Hooke s Joints | 167 |
| 4.3 Forces on the Support Bearings of Hooke s Jointed Driveshafts | 171 |
| 4.3.1 Interaction of Forces in Hooke s Joints | 171 |
| 4.3.2 Forces on the Support Bearings of a Driveshaft in the W-Configuration | 173 |
| 4.3.3 Forces on Support Bearings of a Driveshaft in the Z-Configuration | 175 |
| 4.4 Ball Joints | 176 |
| 4.4.1 Static and Dynamic Torque Capacity | 177 |
| 4.4.2 The ball-joint from the perspective of rolling and sliding bearings | 181 |
| 4.4.3 A mutual, accurate joint centre | 182 |
| 4.4.4 Internal centering of the ball joint | 185 |
| 4.4.5 The geometry of the tracks | 193 |
| 4.4.6 Structural shapes of ball joints
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