Z

Y y x

Figure 1.1

rotation

(a) rectilinear translation curvilinear translation

(b) general plane motion

(c)

Figure 1.2

Link

Schematic representation

node

node

(a)

node

node

node node
(b)

node

node

node

node
(c)

node

node

Figure 1.3

Type of full joint

Schematic representation
1

1 R 0 R 0

1 0
R

1
R

1
R (a)

2
T

2
T

(b)

Figure 1.4

Type of full joint

Schematic representation

2
p

1 1
(a)

C C x A B r y = helix angle p = pitch O A r 2r B

(b)

Figure 1.5

T R

Schematic representation

1
half joint T

1 1 2
(b)

2
R (a)

2 1
T R

2 cam

1 follower

half joint half joint (c) (d)

1 gear

1 gear X
R

2 gear
half joint

half joint

2 gear X
R

R (e)

Figure 1.6

Figure 1.7
z z R T R T

2 2
y T R T y R

1
x

Figure 1.8

Figure 1.9

joint of order one (one pin joint )

joint of order two (two pin joints)

1 B

2 B

3 2

1 2

(a)

(b)

Figure 1.10

joint
1 link y x B

2 link C

joint

end effector
3 link

loop
A

3 link D

joint
B 2 link 1 link A

joint

joint
z

joint

ground (a)

joint
0 ground

(b)

D 3 C 2

4 E

loop
B 1 A 0 5

(c)

Figure 1.11

link 4 (coupler or connecting rod)

D C

link 3 (rocker)
B

link 2 (coupler or connecting rod)

link 5 (rocker)

link 1 (crank)
A x

link 0 ( ground )

joint of order two (two pin joints) (multiple joint ) (a)

moving platform
2 C

end effector

T T

loop
y x D E 4

A z 0

fixed base sphere joint

(b)

(c)

Figure 1.12

Figure 1.13

1
0

(a)

(b)

Figure 1.14

C 2 B

C 3 D B 2

R
D10

R
D20

3 D

RRR (a)
C

RRT (b)
C

2 B R

T
D30

3 B D

R
D40

3 D

T TRT (d)

RTR (c)

C 2 B

T
D50

3 D

R RTT (e) Figure 1.15

Planar mechanisms

Spatial mechanisms

(f) (g)

Figure 1.16

Figure 1.17

Figure 1.17

(b) (a)
0 1 I 3 2 II 4 5

contour diagram

(c)

(d)
0 1 I 3 Figure 1.18 2 II

(e)
5

(f)

contour diagram 4

(a)

(b)

Figure 1.19

(a)

(b)

(c)

(d)
Figure 1.20

(b)

(a)

contour diagram 5 II 4 3 0 I 2 1

(c)

Figure 1.21

B
v2

B 2
v2

2 C 1

C 3 D 1

(a)

(b)

Figure 1.22

1
pitch circle

0
O1 O1

contact point
B

normal to surfaces
t t A

normal to surfaces
t

t
A

pitch point 2
base circle O2 base circle O2

line of centers

0
pitch circle

line of centers

2
(b)

(a)

Figure 1.23