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Lecture2 8

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Malaika khalil
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14 views

Lecture2 8

Uploaded by

Malaika khalil
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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the branch of applied mathematics dealing with motion and forces producing motion.

It is that branch of mechanics which deals with the forces and their effects while the body is at rest.

same as statics while body is in motion

It is that mechanics which deals with the relative motion between the various parts of the
body without considering forces on them.

by considering forces
single dot velocity

double dot = acceleration


A link is a resistant body that constitute the part of machine connecting other part which have motion relative to it.

Kinematic
Links

Based on Based on
Based on
Nature of Mechanical
Motion
Contact Constraint
A cylindrical joint is a two-degrees-of-freedom kinematic pair used in mechanisms. Cylindrical joints provide single-axis sliding
function as well as a single axis rotation, providing a way for two rigid bodies to translate and rotate freely.

Planar Joint locates the two features to be coplanar, controlling three DoF's (one translation and two rotation). The object part in this assembly can
slide in any direction on the plane and can rotate about one direction while maintaining full contact with that plane. An example of a planar joint is a
surface weld.
rotates along 3 axis
section of machine used to connect 1 or more mechanical parts of a machine.
Limited Range of Motion - One of the biggest
disadvantages of low-DOF robots is their limited
range of motion. If manufacturing processes
were to change in the future, your low-DOF
robot may not have the degrees of freedom
needed to effectively adapt to the changes.

Low-DOF robots are also less versatile than


six-axis robots. Six-axis robots can automate
just about any production related task
regardless of complexity. Low-DOF robots are
limited in their scope of complexity for
applications they can automate.
30

(rad/s)

0.3
( )
Light loading and high ratios tend to produce poor gearbox efficiencies.

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