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:
“Of all men living [priests] are our greatest enemies. If it were possible, they would extinguish the very light of nature, turn the world into a dungeon, and keep mankind for ever in chains and darkness.”
—George Berkeley (1685–1753)