Linkage design: Linkages are the basic building blocks of all mechanisms All common forms of mechanisms (cams, gears, belts, chains) are in fact variations on a common theme of linkages. • Linkages are made up of links and joints. • Links: rigid member having nodes • Node: attachment points 1. Binary link: 2 nodes 2. Ternary link: 3 nodes 3. Quaternary link: 4 nodes Joint: a connection between two or more links (at their nodes) which allows motion; (Joints also called kinematic pairs). Joint Classification Joints can be classified in several ways: 1) By the type of contact between the elements, line, point, or surface. 2) By the number of degrees of freedom allowed at the joint. 3) By the type of physical closure of the joint: either force or form closed. 4) By the number of links joined (order of the joint). A joint with more than one freedom may also be a higher pair • Type of contact: line, point, surface • Number of DOF: full joint=1DOF, half joint=2DOF • Form closed (clo...
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