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Often links are presented as geometric objects, such as lines, triangles or squares, that support schematic versions of the joints of the mechanism or machine. [1] For example, the figures show the kinematic diagrams (i) of the slider-crank that forms a piston and crank-shaft in an engine, and (ii) of the first three joints for a PUMA manipulator.
Repeated joints may be summarized by their number; so that joint notation for the SCARA robot can also be written 2RP for example. Joint notation for the parallel Gough-Stewart mechanism is 6-U P S or 6(U P S) indicating that it is composed of six identical serial limbs, each one composed of a universal U , active prismatic P and spherical S joint.
In animal anatomy, a pivot joint (trochoid joint, rotary joint or lateral ginglymus) is a type of synovial joint whose movement axis is parallel to the long axis of the proximal bone, which typically has a convex articular surface.
Planar four-bar linkages are constructed from four links connected in a loop by four one-degree-of-freedom joints.A joint may be either a revolute joint – also known as a pin joint or hinged joint – denoted by R, or a prismatic joint – also known as a sliding pair – denoted by P. [Note 1]
Joints can also be classified functionally according to the type and degree of movement they allow: [1] [12] Joint movements are described with reference to the basic anatomical planes. [3] synarthrosis – permits little or no mobility. Most synarthrosis joints are fibrous joints, such as skull sutures. This lack of mobility is important ...
Although joints can occur singly, they most frequently appear as joint sets and systems. A joint set is a family of parallel, evenly spaced joints that can be identified through mapping and analysis of their orientations, spacing, and physical properties. A joint system consists of two or more intersecting joint sets. [1] [2] [3]
A prismatic joint is a one-degree-of-freedom kinematic pair [1] which constrains the motion of two bodies to sliding along a common axis, without rotation; for this reason it is often called a slider (as in the slider-crank linkage) or a sliding pair. They are often utilized in hydraulic and pneumatic cylinders. [2]
A revolute joint (also called pin joint or hinge joint) is a one-degree-of-freedom kinematic pair used frequently in mechanisms and machines. [1] The joint constrains the motion of two bodies to pure rotation along a common axis. The joint does not allow translation, or sliding linear motion, a constraint not shown in the diagram. Almost all ...