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# Kinematic Chain Overview

Created by
@VibrantMinotaur

### What is the primary purpose of a mechanism?

To change the direction, type, speed, or amount of force or torque available

### According to Grashof's law, what is the relationship between the lengths of the four links in a four-bar chain?

The sum of the shortest and longest link lengths must be greater than the sum of the other two links

### Which type of kinematic chain has three turning pairs and one sliding pair?

Single slider-crank chain

### What is the primary function of the slider-crank mechanism?

<p>To convert reciprocating motion into rotary motion and vice versa</p> Signup and view all the answers

### Which type of kinematic chain has two sliding pairs and two rotating pairs?

<p>Double slider-crank chain</p> Signup and view all the answers

### What is the primary purpose of a kinematic chain in robotics?

<p>To describe the arrangement of joints and links in a robot manipulator</p> Signup and view all the answers

### What is the relationship between the links and joints in a kinematic chain?

<p>The links are connected to each other by joints that allow relative motion between them</p> Signup and view all the answers

### Which of the following is a key characteristic of a kinematic chain?

<p>The chain is a series of interconnected bodies that can move relative to each other</p> Signup and view all the answers

### What is the purpose of the kinematic equations used to describe a kinematic chain?

<p>To control the motion of the kinematic chain</p> Signup and view all the answers

### What is the relationship between a kinematic chain and a mechanism?

<p>A kinematic chain is a component of a mechanism</p> Signup and view all the answers

## Study Notes

### Mechanism

• A machine component that consists of two or more elements arranged to compel the motion of one element, leading to the motion of others.
• Changes the direction of movement, type of movement, speed of movement, and amount of torque or force available to do work.

### Kinematic Chains

• A series of interconnected bodies that can move relative to each other.
• Each link in a kinematic chain is connected to the next link by a joint, allowing for relative movement between the two links.
• Essential for the GATE ME syllabus.

### Types of Kinematic Chains

• Four Bar Chain (also known as the Quadric Cycle chain)
• Single Slider Crank Chain
• Double Slider Crank Chain

### Four Bar Chain

• Consists of four links, each making one turning pair.
• Links can have varying lengths.
• Grashof's law: the sum of the shortest and longest link lengths should be greater than the sum of the other two links.

### Single Slider Crank Chain

• Redesigned Four Bar mechanism.
• Has three turning pairs and one sliding pair.
• Used in all reciprocating engines.
• Converts reciprocating motion into rotary motion and vice versa.

### Double Slider Crank Chain

• Has two sliding and two rotating pairs.
• Consists of four elements: two sliding elements, one lever, and one slotted base.
• Used in various applications, including manufacturing, material handling, and prosthetics.

### Mechanism Inversion

• Obtaining more mechanisms by fixing different Kinematic links in the Kinematic chain.
• When we fix a Kinematic link in the chain, we create a mechanism.

### Kinematic Chain Definition

• A collection of links joined together by joints that allow relative motion between them.
• Important for the GATE exam as MSQ questions may be formulated using this definition.

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## Description

Learn about kinematic chains, which are interconnected bodies that can move relative to each other. Explore how kinematic chains are used in robotics, particularly in describing the arrangement of joints and links in a robot manipulator. Understand the importance of kinematic chains in the GATE ME syllabus.

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