KINEMATICS OF MECHANISMS AND MACHINES

ANIRVAN DASGUPTA
Department of Mechanical Engineering
IIT Kharagpur

Nomenclature and Classification

Lecture 02
 Overview

Nomenclature and classification

Types of links and kinematic pairs

Kinematic chains and their classification
 Nomenclature

Kinematic chain: a combination of inter-connected links (rigid
bodies)
 Nomenclature

Kinematic chain: a combination of inter-connected links (rigid
bodies)

Excavator
 Nomenclature

Kinematic chain: a combination of inter-connected links (rigid
bodies)

Excavator Exechon's Parallel Kinematic Machine (PKM)

Source: www.twitter.com/ibonev/status/339217235300208640
Planar and spatial chains

Excavator


Planar kinematic chain:
all links move in parallel planes
Planar and spatial chains

Excavator Exechon's Parallel Kinematic Machine (PKM)

Source: www.twitter.com/ibonev/status/339217235300208640


Planar kinematic chain: 
Spatial kinematic chain:
all links move in parallel planes link motion not restricted to a plane
 Nomenclature

Link classification: singular, binary, ternary, ...
 Kinematic chain

Classification of chains: closed, open and hybrid
kinematic chains
 Kinematic chain

Closed chain: no singular link
 Kinematic chain

Closed chain: no singular link

Open chain: at least one singular link; no closed chains
 Kinematic chain

Closed chain: no singular link

Open chain: at least one singular link; no closed chains

Hybrid chain: combination of closed and open chains
Closed chain

Aircraft landing gear

Closed chain

Aircraft landing gear Exechon's Parallel Kinematic Machine (PKM)

Source: www.twitter.com/ibonev/status/339217235300208640
Open chain

Fanuc serial manipulator

Source: www.dairyreporter.com
Hybrid chain

Exechon's Parallel Kinematic Machine (PKM)

Source: www.twitter.com/ibonev/status/339217235300208640
Nomenclature

Kinematic pair: Connection between two links
Nomenclature

Kinematic pair: Connection between two links

Example: hinge
Nomenclature

Kinematic pair: Connection between two links

Example: hinge

Pair variable: quantifies relative motion
Nomenclature

Classification: Lower pair or Higher pair
Nomenclature

Classification: Lower pair or Higher pair

Lower pair: Area contact
Nomenclature

Classification: Lower pair or Higher pair

Lower pair: Area contact

Higher pair: Line contact or Point contact
Types of kinematic pairs
Revolute pair (R)
Revolute pair (R)
 Revolute pair (R)


Lower pair
 Revolute pair (R)


Lower pair

One pair variable: 1 degree of freedom
 Revolute pair (R)


Lower pair

One pair variable: 1 degree of freedom

Powered R pair: Rotary motor
Prismatic pair (P)
Prismatic pair (P)
Prismatic pair (P)


Lower pair
Prismatic pair (P)


Lower pair

One pair variable: 1 degree of freedom
Prismatic pair (P)


Lower pair

One pair variable: 1 degree of freedom

Powered P pair: linear motor, hydraulic and pneumatic
actuators
Screw pair (H)
 Screw pair (H)


Lower pair
 Screw pair (H)


Lower pair

One pair variable: 1 degree of freedom
 Screw pair (H)


Lower pair

One pair variable: 1 degree of freedom

Powered H pair: using rotary motor and ball screw (equivalent
to powered P pair)
Cylindric pair (C)
Cylindric pair (C)


Lower pair
Cylindric pair (C)


Lower pair

Two pair variables: 2 degree of freedom
Spheric pair (S)
Spheric pair (S)


Lower pair
Spheric pair (S)


Lower pair

Three pair variables: 3 degree of freedom
Higher pair
Higher pair


Point contact
Higher pair


Point contact

Two pair variables: 2 degree of freedom
Higher pair


Point contact

Two pair variables: 2 degree of freedom

Form closed: slot
Higher pair
Higher pair


Line/point contact
Higher pair


Line/point contact

Pair variables
Higher pair


Line/point contact

Pair variables

Form/force closed: slot/spring-loaded/gravity-loaded
 Summary

Nomenclature and classification

Types of links and kinematic pairs

Kinematic chains and their classification
End of Lecture