Kinematic Chains
Simple machines are elementary examples of kinematic chains that are used to model mechanical systems ranging from the steam engine to robot manipulators. The bearings that form the fulcrum of a lever and that allow the wheel and axle and pulleys to rotate are examples of a kinematic pair called a hinged joint. Similarly, the flat surface of an inclined plane and wedge are examples of the kinematic pair called a sliding joint. The screw is usually identified as its own kinematic pair called a helical joint.
Two levers, or cranks, are combined into a planar four-bar linkage by attaching a link that connects the output of one crank to the input of another. Additional links can be attached to form a six-bar linkage or in series to form a robot.
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Famous quotes containing the word chains:
“He that has his chains knocked off, and the prison doors set open to him, is perfectly at liberty, because he may either go or stay, as he best likes; though his preference be determined to stay, by the darkness of the night, or illness of the weather, or want of other lodging. He ceases not to be free, though the desire of some convenience to be had there absolutely determines his preference, and makes him stay in his prison.”
—John Locke (1632–1704)