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An example of a simple open chain is a serial robot manipulator. These robotic systems are constructed from a series of links connected by six one degree-of-freedom revolute or prismatic joints, so the system has six degrees of freedom. An example of a simple closed chain is the RSSR spatial four-bar linkage.
The degrees of freedom, or mobility, of a kinematic chain is the number of parameters that define the configuration of the chain. [2] [5] A system of n rigid bodies moving in space has 6n degrees of freedom measured relative to a fixed frame. This frame is included in the count of bodies, so that mobility does not depend on link that forms the ...
An example of a simple closed chain is the RSSR (revolute-spherical-spherical-revolute) spatial four-bar linkage. The sum of the freedom of these joints is eight, so the mobility of the linkage is two, where one of the degrees of freedom is the rotation of the coupler around the line joining the two S joints.
For example, as shown in the figure to the right, consider a hinged door with 3 hinges. The mobility criterion for this door gives the mobility to be −1. Yet, the door moves and has a degree of freedom 1, as all its hinges have colinear axes.
Dimensioned drawing of a slider-crank (left) and its kinematic diagram (right).. In mechanical engineering, a kinematic diagram or kinematic scheme (also called a joint map or skeleton diagram) illustrates the connectivity of links and joints of a mechanism or machine rather than the dimensions or shape of the parts.
Generally speaking, a higher pair is a constraint that requires a curve or surface in the moving body to maintain contact with a curve or surface in the fixed body. For example, the contact between a cam and its follower is a higher pair called a cam joint. Similarly, the contact between the involute curves that form the meshing teeth of two ...
The Lambda2 method, or Lambda2 vortex criterion, is a vortex core line detection algorithm that can adequately identify vortices from a three-dimensional fluid velocity field. [1] The Lambda2 method is Galilean invariant , which means it produces the same results when a uniform velocity field is added to the existing velocity field or when the ...
This criterion maximizes the discrepancy between two proposed models at the design locations. [10] Other optimality-criteria are concerned with the variance of predictions: G-optimality A popular criterion is G-optimality, which seeks to minimize the maximum entry in the diagonal of the hat matrix X(X'X) −1 X'. This has the effect of ...