Mechanism of Kinematic Chain
- A kinematic chain, which is the mathematical representation of a mechanical system in mechanical engineering, is an arrangement of rigid bodies connected by joints to produce limited (or intended) motion.
- The stiff bodies, or links, are restrained by their connections to other links, similar to the common usage of the word chain.
- As an example, consider the kinematic model for a conventional robot manipulator, which is a basic open chain made up of links connected in series like the ordinary chain.
- Kinematic pairs are mathematical representations of the joints, or linkages, between two links.
- Lower pairs—often referred to as kinematic pairs—model the sliding and hinged joints essential to robotics, while higher pairs—often referred to as kinematic pairs—model the surface contact joints necessary for cams and gearing. In most models, holonomic constraints are used to represent these joints.
- A kinematic diagram is a mechanical system's schematic that displays the kinematic chain.
Kinematic chain is known as mechanism when ______. (a) None of the link is fixed (b) One link is fixed (c) Two links are fixed (d) All of the links are fixed
If one of the links in a kinematic chain is fixed, the chain is said to be a mechanism. It can be used to transmit or transform motion. Four links or less define a simple mechanism, whereas four or more define a compound mechanism. A four-bar chain with four links that each form a rotating pair is the simplest basic type of mechanism.