Kinematic diagram
Encyclopedia
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robot || and its kinematic diagram
Kinematic diagram or kinematic scheme is diagram
of a mechanism
or machine
that shows its moving parts and their relationships to each other.
Elements of Kinematic diagrams include the frame, which is the frame of reference for all the moving components, as well as links, and joints. Primary Joints include pins, sliders and other elements that allow pure rotation or pure linear motion. Higher order joints also exist that allow a combination of rotation or linear motion. Kinematic diagrams also include points of interest, and other important components. Kinematic diagrams allow one to determine the geometric consequences of a mechanical design. For instance, in two dimensional space the degree of freedom can be determined using the Chebychev–Grübler–Kutzbach criterion
from the number of links, the number of primary joints, and the number of higher order joints.
A kinematic diagram is sometimes called a joint map or a skeleton diagram. For instance, the following diagram distinguishes between the various functions that arise in four-bars according to the lengths of their links:
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| PUMA
Programmable Universal Machine for Assembly
The PUMA is an industrial robot arm developed by Victor Scheinman at pioneering robot company Unimation...
robot || and its kinematic diagram
Kinematic diagram or kinematic scheme is diagram
Diagram
A diagram is a two-dimensional geometric symbolic representation of information according to some visualization technique. Sometimes, the technique uses a three-dimensional visualization which is then projected onto the two-dimensional surface...
of a mechanism
Mechanism (engineering)
A mechanism is a device designed to transform input forces and movement into a desired set of output forces and movement. Mechanisms generally consist of moving components such as gears and gear trains, belt and chain drives, cam and follower mechanisms, and linkages as well as friction devices...
or machine
Machine
A machine manages power to accomplish a task, examples include, a mechanical system, a computing system, an electronic system, and a molecular machine. In common usage, the meaning is that of a device having parts that perform or assist in performing any type of work...
that shows its moving parts and their relationships to each other.
Elements of Kinematic diagrams include the frame, which is the frame of reference for all the moving components, as well as links, and joints. Primary Joints include pins, sliders and other elements that allow pure rotation or pure linear motion. Higher order joints also exist that allow a combination of rotation or linear motion. Kinematic diagrams also include points of interest, and other important components. Kinematic diagrams allow one to determine the geometric consequences of a mechanical design. For instance, in two dimensional space the degree of freedom can be determined using the Chebychev–Grübler–Kutzbach criterion
Chebychev–Grübler–Kutzbach criterion
The Chebychev–Grübler–Kutzbach criterion determines the degree of freedom of a kinematic chain, that is, a coupling of rigid bodies by means of mechanical constraints...
from the number of links, the number of primary joints, and the number of higher order joints.
A kinematic diagram is sometimes called a joint map or a skeleton diagram. For instance, the following diagram distinguishes between the various functions that arise in four-bars according to the lengths of their links: