Kinematic chain

Kinematic chain

Kinematic chain is defined as the combination of kinematic pairs in which each links forms a part of two kinematic pairs and the relative motion between the links is either completely constrained or successfully constrained.

Examples: slider-crank mechanism

For a kinematic chain

N = 2 P – 4 = 2 (j + 2) / 3

Where N = no. of links, P = no. of Pairs and j = no. of joints

When,

LHS > RHS, then the chain is locked

LHS = RHS, then the chain is constrained

LHS < RHS, then the chain is unconstrained

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