Question
Download Solution PDFThe number of links (L) which is required to form a kinematic chain can be expressed in term of the number of pairs (P) as ________.
Answer (Detailed Solution Below)
Detailed Solution
Download Solution PDFExplanation:
Kinematic chain:
- A kinematic chain is a combination of kinematic pairs joined in such a way that each kinematic link forms two kinematic pairs having completely or successfully constrained motion between them.
- A kinematic chain has no fixed link.
The relation between the number of link and number of kinematic pair is given by,
l = 2p - 4
where, l = number of links, p = number of kinematic pair.
The above formula is used to check whether a given chain is a kinematic chain or not.
The relation between the number of joints and the number of links is given by,
\(J +\frac{H}{2} ~=~\frac{3L}{2}-2\)
J = Number of binary joints, H = Number of higher pairs
Conditions for different kinematic chains.
- LHS > RHS (Locked/Redundent structure)
- LHS = RHS (Constrained chain)
- LHS < RHS (Unconstrained chain)
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