Kinematic Relationship Between Adjacent Links
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This document discusses kinematics, which is the analytical study of motion geometry without considering forces. It describes how the motion of an open chain manipulator can be represented by a kinematic chain of rigid links connected by revolute or prismatic joints. The resulting motion is obtained by composing the elementary motions of each link relative to the previous one. Closed kinematic chains are more difficult to analyze as they must account for constraints from other links and statics. The document also covers topics like mapping between frames, composite transformations, and direct kinematics using transformation matrices.
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STATIC & DYNAMIC FORCE ANALYSIS Static equilibrium of two/three force members, Static
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TURNING MOMENT & FLYWHEEL Engine force analysis-Piston and crank effort, Turning moment
on crankshaft, Turning moment diagrams-single cylinder double acting steam engine, four stroke IC
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UNIT-II
Governors Terminology Centrifugal governors- Watt goveror, Dead weight. govc ernors-Porter Proell
Spring controlled governor-Hartnel govemnor, Sensitivity, Stability, Hunting. Isochronism,
and Power of govemnor
Gyroscopic Motion Principles, Gyroscopic torque, Effect of gyroscopic couple on the stability of aero
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UNIT-III
BALANCING OF MACHINES Static and dynamic balancing, Balancing of several masses rotating in the
same plane and different planes, Balancing of primary and secondary forces in reciprocating engine, Partial
palancing of two-cylinder locomotives, Variation of tractive force, swaying couple, hammer blow,
Balancing of two cylinder in-line engines
MECHANICAL VIBRATIONS Introduction, Single degree free & damped vibrations of spring-mass
system, Logarithmic decrement, Tforsional vibration, Forced vibration of single degree system under
harmonic excitation, Critical speeds of shaft
UNIT-IV
Friction Introduction Friction in journal bearing-friction circle, Pivots and collar friction-Flat and conical
pivot bearing Flat collar bearing, Belt drives-types, material, power transmitted, ratio of driving tensions for
flat belt, centrifugal tension, initial tension, rope drive-types Laws of friction, Efficiency on inclined plane,
of
Screw friction, Screw jack, Efficiency, Friction in journal bearing-friction circle, Pivots and collar friction-
Flat and conical pivot bearing, Flat collar bearing
Clutches, Bakes & Dynamometers Single and multiple dise friction clutches, Cone clutch, Brakes-types
Single and double shoe brake, Simple and differential Band brake, Band and Block brake, Absorption and
transmission dynamometers, Prony brake and rope brake dynamometers
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本公司拥有海外各大学样板无数，能完美还原海外各大学 Bachelor Diploma degree, Master Degree Diploma
1:1完美还原海外各大学毕业材料上的工艺：水印，阴影底纹，钢印LOGO烫金烫银，LOGO烫金烫银复合重叠。文字图案浮雕、激光镭射、紫外荧光、温感、复印防伪等防伪工艺。材料咨询办理、认证咨询办理请加学历顾问Q/微741003700
留信网认证的作用:
1:该专业认证可证明留学生真实身份
2:同时对留学生所学专业登记给予评定
3:国家专业人才认证中心颁发入库证书
4:这个认证书并且可以归档倒地方
5:凡事获得留信网入网的信息将会逐步更新到个人身份内，将在公安局网内查询个人身份证信息后，同步读取人才网入库信息
6:个人职称评审加20分
7:个人信誉贷款加10分
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Kinematic Relationship Between Adjacent Links
- 1. KINEMATIC RELATIONSHIP BETWEEN ADJACENT LINKS Hitesh Mohapatra https://www.linkedin.com/in/hiteshmohapatra/
- 2. KINEMATICS KINEMATICS – the analytical study of the geometry of motion of a mechanism: • with respect to a fixed reference co-ordinate system, • without regard to the forces or moments that cause the motion. In order to control and programme a robot we must have knowledge of both its spatial arrangement and a means of reference to the environment.
- 3. OPEN CHAIN MANIPULATOR KINEMATICS Mechanics of a manipulator can be represented as a kinematic chain of rigid bodies (links) connected by revolute or prismatic joints. One end of the chain is constrained to a base, while an end effector is mounted to the other end of the chain. The resulting motion is obtained by composition of the elementary motions of each link with respect to the previous one.
- 4. CLOSED KINEMATIC CHAIN Much more difficult. Even analysis has to take into account statics, constraints from other links, etc. Synthesis of closed kinematic mechanisms is very difficult.
- 5. MAPPING OF FRAMES ● MAPPING – Changing the description of a point in space from one frame to another. ● MAPPING BETWEEN ROTATED FRAMES ● MAPPING BETWEEN TRANSLATED FRAMES ● COMPOSITE MAPPING
- 11. DIRECT KINEMATICS One joint: xi = Axi−1. Chain of joints: xn−1 = An−1 An−2 . . . A1 A0 x0. Easy to compute (matrix multiplication). Unique solution.
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