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Erschienen in:
1993 | OriginalPaper | Buchkapitel
Preamble
verfasst von : M. A. Gonzalez-Palacios, J. Angeles
Erschienen in: Cam Synthesis
Verlag: Springer Netherlands
Enthalten in: Professional Book Archive
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A mechanism,according to the IFToMM Commission A for Standardization of Terminology (1991), is a system of bodies designed to convert motion of, and forces on,one or several bodies into constrained motions of,and forces on, other bodies. The way these bodies are connected is defined by their kinematic pairs. Basically, there are two kinds of kinematic pairs, namely, higher and lower pairs. The former refer to the coupling of two bodies in point or line contact, while the latter refer to the same in surface contact. Lower kinematic pairs can be of six types, namely, revolute,prismatic, screw,cylindrical, spherical and planar (Hartenberg and Denavit, 1967; Angeles, 1982).