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Concept
Kinematic pair
Summary
In classical mechanics, a kinematic pair is a connection between two physical objects that imposes constraints on their relative movement (kinematics). German engineer Franz Reuleaux introduced the kinematic pair as a new approach to the study of machines that provided an advance over the motion of elements consisting of simple machines.
Kinematics is the branch of classical mechanics which describes the motion of points, bodies (objects) and systems of bodies (groups of objects) without consideration of the causes of motion. Kinematics as a field of study is often referred to as the "geometry of motion". For further detail, see Kinematics.
Hartenberg & Denavit presents the definition of a kinematic pair:
In the matter of connections between rigid bodies, Reuleaux recognized two kinds; he called them higher and lower pairs (of elements). With higher pairs, the two elements are in contact at a point or along a line, as in a ball bearing or disk cam and follower; the relative motions of coincident points are dissimilar. Lower pairs are those for which area contact may be visualized, as in pin connections, crossheads, ball-and socket joints and some others; the relative motion of coincident points of the elements, and hence of their links, are similar, and an exchange of elements from one link to the other does not alter the relative motion of the parts as it would with higher pairs.In kinematics, the two connected physical objects, forming a kinematic pair, are called 'rigid bodies'. In studies of mechanisms, manipulators or robots, the two objects are typically called 'links'.
A lower pair is an ideal joint that constrains contact between a surface in the moving body to a corresponding in the fixed body. A lower pair is one in which there occurs a surface or area contact between two members, e.g. nut and screw, universal joint used to connect two propeller shafts.
Cases of lower joints:
A revolute R joint, or hinged joint, requires a line in the moving body to remain co-linear with a line in the fixed body, and a plane perpendicular to this line in the moving body maintain contact with a similar perpendicular plane in the fixed body.
Official source
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