chap 2 Kinematics fundamental ■2.1 Basic concept 2.2 Determining Degree of Freedom 2,3 How does a kinematic chains transform into a mechanism? 2.4 Kinematic Diagram of Mechanism 2.5 Principle of Mechanism Constitution
Chap.2 Kinematics fundamental ◼ 2.1 Basic Concept ◼ 2.2 Determining Degree of Freedom ◼ 2.3 How does a kinematic chains transform into a mechanism? ◼ 2.4 Kinematic Diagram of Mechanism ◼ 2.5 Principle of Mechanism Constitution
2.1 Basic Concepts of Mechanisms Degree of freedom(自由度 Link(构件) Kinematic pairs( Joints)(运动副) Machine element(机械零件) Fixed link〔 frame)(机架) Crank, couple, rocker(曲柄、连杆、摇杆 Kinematic chain(运动链) Mechanism(机构) Machine(机器)
2.1 Basic Concepts of Mechanisms Degree of freedom (自由度) Link （构件） Kinematic Pairs (Joints)（运动副） Machine Element（机械零件） Fixed link ( frame)（机架） Crank, couple,rocker（曲柄、连杆、摇杆） Kinematic Chain（运动链） Mechanism（机构） Machine（机器）
2.1Basic Concepts of Mechanisms(1) Degree of Freedon(自由度) The system's DOF is equal to the number of independent parameters which are needed to uniquely define its position in space at any instant of time
Degree of Freedom（自由度） The system’s DOF is equal to the number of independent parameters which are needed to uniquely define its position in space at any instant of time. 2.1Basic Concepts of Mechanisms(1)
2.1Basic Concepts of Mechanisms(2) ink(构件) is a rigid body which possesses at lease two nodes which are points for attachment to other links Ternary link nodes nodes Binary link Quaternary link
Link（构件）:is a rigid body which possesses at lease two nodes which are points for attachment to other links. nodes Ternary link Binary link Quaternary link nodes 2.1Basic Concepts of Mechanisms(2)
2.1Basic Concepts of Mechanisms3) Joint(铰链或运动副) Joint: is a connection between two or more links(at their nodes), which allows some motion, or potential motion, between the connected links Joints also called kinematic pairs) can be classified in several ways By the type of contact between the elements, line, point, or surface 2. By the number of degree of freedom allowed at the joint 3. others
Joint: is a connection between two or more links(at their nodes), which allows some motion, or potential motion, between the connected links. Joints (also called kinematic pairs) can be classified in several ways: 1. By the type of contact between the elements, line, point, or surface. 2. By the number of degree of freedom allowed at the joint. 3. Others 2.1Basic Concepts of Mechanisms(3) Joint (铰链或运动副)