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A sample universal joint colour-coded to the diagrams about the equation of motion. The red and blue planes are visible. Angular (rotational) output shaft speed ω 2 {\displaystyle \omega _{2}\,} versus rotation angle γ 1 {\displaystyle \gamma _{1}\,} for different bend angles β {\displaystyle \beta \,} of the joint
Repeated joints may be summarized by their number; so that joint notation for the SCARA robot can also be written 2RP for example. Joint notation for the parallel Gough-Stewart mechanism is 6-UPS or 6(UPS) indicating that it is composed of six identical serial limbs, each one composed of a universal U, active prismatic P and spherical S joint.
Also, although universal joints are simple to produce and can withstand large forces, universal joints often become "notchy" and difficult to rotate as the angle of operation increases. The first type of constant-velocity joint was the Double Hooke's (Double Cardan) Joint which was invented by Robert Hooke in the 17th century. This design uses ...
the cylindric joint consists of an RP or PR serial chain constructed so that the axes of the revolute and prismatic joints are parallel, the universal joint consists of an RR serial chain constructed such that the axes of the revolute joints intersect at a 90° angle;
A prop-shaft assembly consists of a propeller shaft, a slip joint and one or more universal joints. Where the engine and axles are separated from each other, as on four-wheel drive and rear-wheel drive vehicles, it is the propeller shaft that serves to transmit the drive force generated by the engine to the axles.
Kinematic pairs model the hinged and sliding joints fundamental to robotics, often called lower pairs and the surface contact joints critical to cams and gearing, called higher pairs. These joints are generally modeled as holonomic constraints. A kinematic diagram is a schematic of the mechanical system that shows the kinematic chain.
An alternative to the SRJ is the universal joint, which consists of two revolute joints. [7] By using spherical rolling joints instead of universal, designers can reduce the number of joints to achieve the same result. Using a spherical joint as opposed to a universal joint also eliminates the problematic possibility of a kinematic singularity. [8]
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