More on Machines and Mechanisms
Planar and Spatial Mechanisms
Mechanisms can be divided into planar mechanisms and spatial mechanisms, according to the relative motion of the rigid bodies. In a planar mechanisms, all of the relative motions of the rigid bodies are in one plane or in parallel planes. If there is any relative motion that is not in the same plane or in parallel planes, the mechanism is called the spatial mechanism. In other words, planar mechanisms are essentially two dimensional while spatial mechanisms are three dimensional. This tutorial only covers planar mechanisms.Kinematics and Dynamics of Mechanisms
Kinematics of mechanisms is concerned with the motion of the parts without considering how the influencing factors (force and mass) affect the motion. Therefore, kinematics deals with the fundamental concepts of space and time and the quantities velocity and acceleration derived there from.Kinetics deals with action of forces on bodies. This is where the the effects of gravity come into play.
Dynamics is the combination of kinematics and kinetics.
Dynamics of mechanisms concerns the forces that act on the parts -- both balanced and unbalanced forces, taking into account the masses and accelerations of the parts as well as the external forces.
Links, Frames and Kinematic Chains
A link is defined as a rigid body having two or more pairing elements which connect it to other bodies for the purpose of transmitting force or motionIn every machine, at least one link either occupies a fixed position relative to the earth or carries the machine as a whole along with it during motion. This link is the frame of the machine and is called the fixed link.
The combination of links and pairs without a fixed link is not a mechanism but a kinematic chain.
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