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In mechanical engineering, a kinematic diagram or kinematic scheme (also called a joint map or skeleton diagram) illustrates the connectivity of links and joints of a mechanism or machine rather than the dimensions or shape of the parts. Often links are presented as geometric objects, such as lines, triangles or squares, that support schematic ...
A prismatic joint, or slider, requires that a line, or axis, in the moving body remain co-linear with a line in the fixed body, and a plane parallel to this line in the moving body maintain contact with a similar parallel plane in the fixed body. This imposes five constraints on the relative movement of the links, which therefore has one degree ...
A lower pair is an ideal joint that constrains contact between a surface in the moving body to a corresponding in the fixed body. A lower pair is one in which there occurs a surface or area contact between two members, e.g. nut and screw, universal joint used to connect two propeller shafts. Cases of lower joints:
A revolute joint (also called pin joint or hinge joint) is a one-degree-of-freedom kinematic pair used frequently in mechanisms and machines. [1] The joint constrains the motion of two bodies to pure rotation along a common axis. The joint does not allow translation, or sliding linear motion, a constraint not shown in the diagram. Almost all ...
An example of a simple open chain is a serial robot manipulator. These robotic systems are constructed from a series of links connected by six one degree-of-freedom revolute or prismatic joints, so the system has six degrees of freedom. An example of a simple closed chain is the RSSR (revolute-spherical-spherical-revolute) spatial four-bar linkage.
A basic example of maps between manifolds are scalar-valued functions on a manifold, : or :, sometimes called regular functions or functionals, by analogy with algebraic geometry or linear algebra. These are of interest both in their own right, and to study the underlying manifold.
A twist is a screw used to represent the velocity of a rigid body as an angular velocity around an axis and a linear velocity along this axis. All points in the body have the same component of the velocity along the axis, however the greater the distance from the axis the greater the velocity in the plane perpendicular to this axis.
Vertical – spanning the height of a body. Longitudinal – spanning the length of a body. Lateral – spanning the width of a body. The distinction between width and length may be unclear out of context. Adjacent – next to; Lineal – following along a given path. The shape of the path is not necessarily straight (compare to linear).