Couplings Flashcards
1
Q
What is a link?
A
Is an elementary part of an industrial robot that compose the mechanism together with the kinematic pairs.
2
Q
Types of link.
A
- Crank (360°)
- Connecting rod (rotate and traslate)
- Rocker (rotate <360°)
- Frame (fixed)
3
Q
What is a coupling?
A
Is a kinematic pair between two mechanical elements (links) that are in relative motion.
4
Q
Definition of class of a kinematic pair.
A
Is the number of DoF that are allowed by the coupling.
5
Q
What are the conjugate surfaces?
A
They are a type of surfaces that enables the relative motion between two links.
6
Q
All lower pairs (surface contact)
A
- Revolute pair 1R
- Prismatic pair (slider) 1T
- Helical pair (screw) 1R + 1T
- Cylindrical pair 1R + 1T
- Spherical pair 3R
- Plane pair 1R + 2T
7
Q
All higher pairs (also linear and point contact)
A
- Slotted spherical pair (universal joint) 2R
- Planar cam pair 1T + 1R
- Sphere slotted cylinder pair 1T + 2R
- Sphere cylinder pair 1T + 3R
- Cylinder plane pair 2T + 2R
- Sphere plane pair 2T + 3R
8
Q
The two type of kinematic pair.
A
- Form closed: use constraints
- Force closed: use pure forces
