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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)