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Mechanism design: enumeration of kinematic structures according to function
CRC Press An important consideration in this design process is the
In mechanical engineering
Mechanical engineering is the study of physical machines and mechanism (engineering), mechanisms that may involve force and movement. It is an engineering branch that combines engineering physics and engineering mathematics, mathematics principl ...
, a kinematic diagram or kinematic scheme (also called a joint map or skeleton diagram) illustrates the connectivity of links and joints
A joint or articulation (or articular surface) is the connection made between bones, ossicles, or other hard structures in the body which link an animal's skeletal system into a functional whole.Saladin, Ken. Anatomy & Physiology. 7th ed. McGraw- ...
of a mechanism
Mechanism may refer to:
*Mechanism (economics), a set of rules for a game designed to achieve a certain outcome
**Mechanism design, the study of such mechanisms
*Mechanism (engineering), rigid bodies connected by joints in order to accomplish a ...
or machine
A machine is a physical system that uses power to apply forces and control movement to perform an action. The term is commonly applied to artificial devices, such as those employing engines or motors, but also to natural biological macromol ...
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 versions of the joints of the mechanism or machine.
For example, the figures show the kinematic diagrams (i) of the slider-crank that forms a piston and crank-shaft in an engine, and (ii) of the first three joints for a PUMA manipulator.
, - style="text-align:center;"
, , ,
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, PUMA robot , , and its kinematic diagram
Linkage graph
Akinematic
In physics, kinematics studies the geometrical aspects of motion of physical objects independent of forces that set them in motion. Constrained motion such as linked machine parts are also described as kinematics.
Kinematics is concerned with s ...
diagram can be formulated as a graph
Graph may refer to:
Mathematics
*Graph (discrete mathematics), a structure made of vertices and edges
**Graph theory, the study of such graphs and their properties
*Graph (topology), a topological space resembling a graph in the sense of discret ...
by representing the joints of the mechanism as vertices and the links as edges of the graph. This version of the kinematic diagram has proven effective in enumerating kinematic structures in the process of machine design.Lung-Wen Tsai, 2001Mechanism design: enumeration of kinematic structures according to function
CRC Press An important consideration in this design process is the
degree of freedom
In many scientific fields, the degrees of freedom of a system is the number of parameters of the system that may vary independently. For example, a point in the plane has two degrees of freedom for translation: its two coordinates; a non-infinites ...
of the system of links and joints, which is determined using the Chebychev–Grübler–Kutzbach criterion
The Chebychev–Grübler–Kutzbach criterion determines the number of degrees of freedom of a kinematic chain, that is, a coupling of rigid bodies by means of mechanical constraints. These devices are also called linkages.
The Kutzbach criteri ...
.
Elements of machines
Elements ofkinematic
In physics, kinematics studies the geometrical aspects of motion of physical objects independent of forces that set them in motion. Constrained motion such as linked machine parts are also described as kinematics.
Kinematics is concerned with s ...
s diagrams include the frame, which is the frame of reference for all the moving components, as well as links (kinematic pair
In classical mechanics, a kinematic pair is a connection between two physical objects that imposes constraints on their relative movement (kinematics). German engineer Franz Reuleaux introduced the kinematic pair as a new approach to the stud ...
s), and joints. Primary Joints
Primary or primaries may refer to:
Arts, entertainment, and media Music Groups and labels
* Primary (band), from Australia
* Primary (musician), hip hop musician and record producer from South Korea
* Primary Music, Israeli record label
Works
...
include pins, sliders and other elements that allow pure rotation or pure linear motion. Higher order joints
Higher may refer to:
Music
* The Higher, a 2002–2012 American pop rock band
Albums
* ''Higher'' (Ala Boratyn album) or the title song, 2007
* ''Higher'' (Chris Stapleton album) or the title song, 2023
* ''Higher'' (Ezio album) or the title s ...
also exist that allow a combination of rotation or linear motion. Kinematic diagrams also include points of interest, and other important components.
See also
*Free body diagram
In physics and engineering, a free body diagram (FBD; also called a force diagram) is a graphical illustration used to visualize the applied forces, moments, and resulting reactions on a free body in a given condition. It depicts a body or conn ...
* Kinematic synthesis
In mechanical engineering, kinematic synthesis (also known as mechanism synthesis) determines the size and configuration of Mechanism (engineering), mechanisms that shape the flow of power through a mechanical system, or machine, to achieve a desi ...
* Left-hand–right-hand activity chart
Left-hand–right-hand activity chart is an illustration that shows the contributions of the right and left hands of a worker and the balance of the workload
The term workload can refer to several different yet related entities.
An amount of l ...
References
Mechanisms (engineering) Diagrams Classical mechanics