Figures CI 2

7/29/2019 Figures CI 2

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Figure 1.1

xy

X

Y

Z


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(b)

(a)

curvilinear translationrectilinear translation

rotation

general plane motion

(c)

Figure 1.2


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(a)

(b)

(c)

Figure 1.3

Schematic representationLink

node node

node

node

node

node

nodenode

node

nodenode

node


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Figure 1.4

1

0

(a)

R

R

T

1

2

0

1

1

0

1 2

R

1 2

R R

0

1

T

1

2

(b)

Schematic representationType of full joint


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r

p

p

r

yB

x O

C

z

B

C

A A

2r

= helix anglep = pitch

(b)

(a)

1

2

1

2 p

p

Figure 1.5

Schematic representationType of full joint


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Figure 1.6

RT

R

T

half joint

half joint

cam follower

(a) (b)

(c)

1

1

2

2

R

T

1

2

half joint

(d)

(e)

gear

half joint

1

gear2

12

X

X

gear1

gear2

R

R

half joint

R

R

2

1

Schematic representation


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Figure 1.7

Figure 1.8

R

TR

T

x

y

z

1

2

Figure 1.9

R

T

1

2

RR

T

x

y

z


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1

2

B

3

B

B

B

1 2 1 2

1

2

3

1 2 1

2

3

joint of order two(two pin joints)

Figure 1.10

(a) (b)

joint of order one(one pin joint )


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B

Figure 1.11

(a)

(b)

A

C

D

B

A

C

3

1

2

3

2

10

0

link

joint

joint

link

linkjoint

joint

ground

ground

link

link

link

joint

joint jointloop

x

y

z

(c)

endeffector

A

1

2

3

4

loop

0

5B

C

D

E


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Figure 1.12

joint of order two (two pin joints)(multiple joint )

link 0( ground )

link 1 (crank)link 5 (rocker)

DB

A

C

x

y

z

link 2 (coupler or connecting rod)

link 4 (coupler or connecting rod) link 3 (rocker)

(a)

D

B

A

3

1

2

0

x

y

z

end

4

loop

effectorC

E

(b)

T

T

spherejoint

fixedbase

movingplatform

(c)


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Figure 1.13


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Figure 1.14

(a)

11

0

(b)

0


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D10

C

2 3

B D

2 3

B

C

DD20

D30

C

2 3

B D

D40

C

23

B

D

D50

C

2 3

B

D

RRR(a)

RRT(b)

RTR

(c)

TRT

(d)

RTT(e)

Figure 1.15

R

R

R R

R

R R

R

R T

T

T

TT

T


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Figure 1.16

Planar mechanisms

Spatial mechanisms

(f)

(g)


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Figure 1.17


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Figure 1.17


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Figure 1.18

(a)

(b)

(c)

(d) (e)

0

I

1

2

5

43

II

0

I

1

2

4

3

II

5

(f)

contour diagram

contour diagram


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Figure 1.19

(a)

(b)


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Figure 1.20

(a)

(b)(c)

(d)


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Figure 1.21

(c)

0

I

1

2

5

4 3

II

contour diagram

(a)

(b)


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A

B

C

1

v2

1

2

A

B

C

1

v2

1

D

2

3

(a) (b)

Figure 1.22


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pitch circle

t t

pitch circle

contact pointnormal to surfaces

line of centers

A

B

base circle

t t

pitch point

normalto surf

line of centers

A

B

base circle

1

Figure 1.23

1

2

2

0

O1

O2

0

0

O1

O2

0

3

(a) (b)

Figures CI 2

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