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Watt's linkage consists of three bars bolted together in a chain. The chain of bars consists of two end bars and a middle bar. The middle bar is bolted at each of its ends to one of the ends of each outer bar. The two outer bars are of equal length, and are longer than the middle bar. The three bars can pivot around the two bolts.
The movement of a body, or link, is studied using geometry so the link is considered to be rigid. [1] The connections between links are modeled as providing ideal movement, pure rotation or sliding for example, and are called joints. A linkage modeled as a network of rigid links and ideal joints is called a kinematic chain.
A half-turn may refer to: One half of a full turn, an angle measure equivalent to 180 degrees or π radians Considering only points in a plane, a half turn is equivalent to a point reflection; Pi (π), a mathematical constant representing a half-turn in radians; A U-turn: a driving maneuver used to reverse direction
An arc of a circle with the same length as the radius of that circle corresponds to an angle of 1 radian. A full circle corresponds to a full turn, or approximately 6.28 radians, which is expressed here using the Greek letter tau (τ). Some special angles in radians, stated in terms of 𝜏. A comparison of angles expressed in degrees and radians.
Thus, the γ-turn has two forms, a classical form with (φ, ψ) dihedral angles of roughly (75°, −65°) and an inverse form with dihedral angles (−75°, 65°). At least eight forms of the beta turn occur, varying in whether a cis isomer of a peptide bond is involved and on the dihedral angles of the central two residues.
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Planar quadrilateral linkage, RRRR or 4R linkages have four rotating joints. One link of the chain is usually fixed, and is called the ground link, fixed link, or the frame. The two links connected to the frame are called the grounded links and are generally the input and output links of the system, sometimes called the input link and output link.
If every internal angle of a simple polygon is less than a straight angle (π radians or 180°), then the polygon is called convex. In contrast, an external angle (also called a turning angle or exterior angle) is an angle formed by one side of a simple polygon and a line extended from an adjacent side. [1]: pp. 261–264