Titlebook: Kinematics; Theory and Applicati Jens Wittenburg Book 2016 Springer-Verlag Berlin Heidelberg 2016 kinematics of mechanisms.spatial kinemati

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Finite Screw Displacement, final position, respectively, are assumed to be arbitrary subject only to the restriction that the final position cannot be produced from the initial position by pure translation. Motions leading from the initial to the final position are not investigated.

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Spatial Simple Closed Chains,b. Axial joints are the cylindrical joint (C), the revolute joint (R) and the prismatic joint (P). Overconstrained mechanisms are excluded from consideration. Then it is known from Theorem 4.1 that a 1-d.o.f. spatial simple closed chain has seven joint variables. The variable of either one revolute

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Direct Kinematics of Tree-Structured Systems,ant that joint . (. = 1, …, .) connects body . to a body .(.) < .. Example: In Fig. 11.1 .(5) = 3 and .(1) = 0. Regular labeling is always possible and, in general, in more than one way. The simplest tree-structure is a serial chain (a system without side branches). In a serial chain joint . (. = 1,

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Shaft Couplings, coupling may serve the purpose of keeping one shaft in position relative to the other. Example: If both shafts are mounted in bearings in a common frame, a pair of gears having the transmission ratio one (spur gears, bevel gears or hypoid gears depending on the relative location of the shafts) is a

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Theory of Gearing, radius). In this case, rotational motion of a wheel is transformed into translatory motion of the rack or vice versa. The present chapter is restricted to gears transforming uniform motion of one wheel into uniform motion of the other wheel or rack. This restriction eliminates from investigation sp

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