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Introduction
Sourav Rakshit
204 Machine Design Section
srakshit@iitm.ac.in
1 Introduction
Basic Definitions
Kinematic Pairs
Form/Force closed
2 Kinematic Diagrams
Kinematic chain
Kinematic Diagram
3 Kinematic Inversion
Definitions
Kinematic inversion of 4R mechanism
Kinematic inversion of 3R1P mechanism
Kinematic inversion of 2R2P mechanism
4 Equivalent Linkages
Basic Definitions
Kinematic Pairs
Lower Pairs
Higher Pairs
Prismatic Pair
Helical Pair
Cylindrical Pair
Spherical Pair
Planar Pair
Link
If the relative position of any link uniquely defines the position of any
point on any other link, the chain is called a constrained kinematic
chain.
A mechanism can be defined as a closed kinematic chain with one
fixed link.
A mechanism consisting of only lower pairs is called a linkage.
The simplest linkage consists of 4 binary links:
4-bar mechanism/linkage.
A 4-bar linkage has 1 d.o.f.
Kinematic Diagram
Kinematic Inversion
Equivalent Linkages