Forward kinematicsIn robot kinematics, forward kinematics refers to the use of the kinematic equations of a robot to compute the position of the end-effector from specified values for the joint parameters. The kinematics equations of the robot are used in robotics, computer games, and animation. The reverse process, that computes the joint parameters that achieve a specified position of the end-effector, is known as inverse kinematics.
Mechanism (engineering)In engineering, a mechanism is a device that transforms input forces and movement into a desired set of output forces and movement. Mechanisms generally consist of moving components which may include: Gears and gear trains; Belts and chain drives; Cams and followers; Linkages; Friction devices, such as brakes or clutches; Structural components such as a frame, fasteners, bearings, springs, or lubricants; Various machine elements, such as splines, pins, or keys.
Linkage (mechanical)A mechanical linkage is an assembly of systems connected to manage forces and movement. The movement of a body, or link, is studied using geometry so the link is considered to be rigid. The connections between links are modeled as providing ideal movement, pure rotation or sliding for example, and are called joints. A linkage modeled as a network of rigid links and ideal joints is called a kinematic chain. Linkages may be constructed from open chains, closed chains, or a combination of open and closed chains.
Robot kinematicsIn robotics, robot kinematics applies geometry to the study of the movement of multi-degree of freedom kinematic chains that form the structure of robotic systems. The emphasis on geometry means that the links of the robot are modeled as rigid bodies and its joints are assumed to provide pure rotation or translation. Robot kinematics studies the relationship between the dimensions and connectivity of kinematic chains and the position, velocity and acceleration of each of the links in the robotic system, in order to plan and control movement and to compute actuator forces and torques.
Gear stickA gear stick (rarely spelled gearstick), gear lever (both UK English), gearshift or shifter (both U.S. English), more formally known as a transmission lever, is a metal lever attached to the transmission of an automobile. The term gear stick mostly refers to the shift lever of a manual transmission, while in an automatic transmission, a similar lever is known as a gear selector. A gear stick will normally be used to change gear whilst depressing the clutch pedal with the left foot to disengage the engine from the drivetrain and wheels.
Four-bar linkageIn the study of mechanisms, a four-bar linkage, also called a four-bar, is the simplest closed-chain movable linkage. It consists of four bodies, called bars or links, connected in a loop by four joints. Generally, the joints are configured so the links move in parallel planes, and the assembly is called a planar four-bar linkage. Spherical and spatial four-bar linkages also exist and are used in practice. Planar four-bar linkages are constructed from four links connected in a loop by four one-degree-of-freedom joints.
Kinematic diagramIn mechanical engineering, a kinematic diagram or kinematic scheme (also called a joint map or skeleton diagram) illustrates the connectivity of links and joints of a mechanism or machine rather than the dimensions or shape of the parts. Often links are presented as geometric objects, such as lines, triangles or squares, that support schematic versions of the joints of the mechanism or machine. For example, the figures show the kinematic diagrams (i) of the slider-crank that forms a piston and crank-shaft in an engine, and (ii) of the first three joints for a PUMA manipulator.
Epicyclic gearingAn epicyclic gear train (also known as a planetary gearset) consists of two gears mounted so that the center of one gear revolves around the center of the other. A carrier connects the centers of the two gears and rotates the planet and sun gears mesh so that their pitch circles roll without slip. A point on the pitch circle of the planet gear traces an epicycloid curve. In this simplified case, the sun gear is fixed and the planetary gear(s) roll around the sun gear.
Chain driveChain drive is a way of transmitting mechanical power from one place to another. It is often used to convey power to the wheels of a vehicle, particularly bicycles and motorcycles. It is also used in a wide variety of machines besides vehicles. Most often, the power is conveyed by a roller chain, known as the drive chain or transmission chain, passing over a sprocket gear, with the teeth of the gear meshing with the holes in the links of the chain. The gear is turned, and this pulls the chain putting mechanical force into the system.
Non-synchronous transmissionA non-synchronous transmission, also called a crash gearbox, is a form of manual transmission based on gears that do not use synchronizing mechanisms. They require the driver to manually synchronize the transmission's input speed (engine RPM) and output speed (driveshaft speed). Non-synchronous transmissions are found primarily in various types of industrial machinery; such as tractors and semi-tractors. Non-synchronous manual transmissions are also found on motorcycles, in the form of constant-mesh sequential manual transmissions.
