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2.3(A): Links
Reminder: A mechanism is a collection of links connected by joints arranged to transmit a specific type of motion Link: Rigid body which possesses at least 2 nodes (nodes = points for attachment to other links) Links are classified according to # of nodes
2.3(A): Links
Simplified drawings of links (whiteboard) Students must be able to identify and differentiate types of links Links do not necessarily need to take their obvious shapes (links are classified according to # of nodes, NOT their shapes) Example (whiteboard)
2.3(B): Joints
Joint: Connection between 2 or more links (at their nodes) which allows some motion Can be classified in several ways. We will focus on 2:
by the DoF allowed at the joint by the number of links joined (order of the joint)
Name Pin / Rotational Slider / Translational Link against plane Pin in slot Rolling cylinder
DoF Classification
Diagram
Link Joint Link Link Joint (surface) Link
DoF 1 (why?) 1 (why?) 2 (why?) 2 (why?) Pure roll: 1 Pure slide: 1 Roll & slide: 2
Simplified Diagram
Order Classification
Order = (# of links joined) - 1 Name Single joint Multiple joint Diagram Order 1 2 DoF 1 2 joints, each with 1 DoF (whiteboard)
Input
Input = Source of Motion The device that introduces/produces motion for a mechanism Rotary Input
Usually provided by a motor
Piston
Linear Input
Usually provided by a linear actuator Simply a piston in a cylinder moved by pneumatic or hydraulic pressure
Sliding Joint
Cylinder
Linear Actuator
2.11: Inversion
Act of grounding a different link in a kinematic chain Usually produces different motions from the mechanism Example (computer simulation)
Ground
Link Assembly
In order for the four links to be assembled L < (S + P + Q) If L = S + P + Q, the links can be assembled but will not move (whiteboard)
Course Outcomes