运动副 常用运动副的分类及其代表符号 名称 简图或几何图形 代 号 约束条件数 自由度数 级 别 球面髙副 1 机构的组成及运动简图 圆柱高副 2 球面低副 3 万向联轴节 2 V universal /Hooke joint
运动副 常用运动副的分类及其代表符号 机 构 的 机 组 成 的 及 运 成 动 简 运 图 万向联轴节 U 4 2 IV universal /Hooke joint
运动副 常用运动副的分类及其代表符号 名 称 简图或几何图形 代 号 约桌条件数 自由度数 级 别 球销副 S' 2 机构的组成及运动简图 圆茌副 螺旋副 H 转动副 R 移动副 Symbols used in kinematic diagram
运动副 常用运动副的分类及其代表符号 机 构 的 机 组 成 的 及 运 成 动 简 运 图 Symbols used in kinematic diagram
上游充通大学 SHANGHAI JIAO TONG UNIVERSITY Kinematic pairs 运动副 Rewoire (R)joint-1 DOF Rotating full pin (R)joint (form closed) Translating full slider (P)joint (form closed) (b)Ful jcints-1 DOF (lower pairs) quare x-section Ax Prie(P joint--]DoP 守异 Link against plane (force closed) Pin in skt (form closed) (c Roll-sise (halt or RP)joints-2 DOF (higher pairs) Helical (H)joint-1DOF L △3 49 (C)join-2DF ef First order pin joint-one DOF Second order pin joint-two DOF (two links joined) (three links jomned) (d)The order of a jont i one less than the number of links joined Spherical (joint-3DOF △0+ △中 paar(P月joim-3DOF May roll,slide,or roll-slide,depending on friction (o)The sixlower pairs (e)Planar pure-roll (R)pure-slide (P)or roll-slide (RP)joint-I or 2 DOF (higher pair) FIGURE 2-3 Joints (pairs)of various types ME209 Design Manufacturing Il
Kinematic pairs 运动副 ME209 Design & Manufacturing II
上游充通大学 Lower Pairs SHANGHAI JIAO TONG UNIVERSITY △r square X-section △0 Revolute (R)joint-1 DOF Prismatic (P)joint-1 DOF Helical (H)joint-1 DOF 铰链副 移动副○ △6 螺旋副 △y △0 Cylindric(C)joint-2 DOF Spherical(S)joint-3 DOF Planar (F)joint-3 DOF 柱销副 球铰副 平面副 FIGURE 2-3 (a)The six lower pairs Prismatic Revolute Cylindric Spherical Helical Planar(F) DOF
Lower Pairs 铰链副 移动副 螺旋副 柱销副 球铰副 平面副 Prismatic Revolute Cylindric Spherical Helical Planar (F) DOF 1 1 2 3 1 3
上游充通大学 SHANGHAI JIAO TONG UNIVERSITY Higher Pairs-1 Names Degree of Typical form Comments freedom Roller rotates about this line at this Cylindrical instant in its motion.Roller does not slip on the surface on which it roller rolls. Cam rolls and slides on follower. Cam pair 2 Spur gears,helical gears,and other gears.(rolls slides) Gear pair 2
Higher Pairs-1