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Fundamental Concepts in Kinematics
Published in Kevin Russell, Qiong Shen, Raj S. Sodhi, Kinematics and Dynamics of Mechanical Systems Implementation in MATLAB® and Simmechanics®, 2018
Kevin Russell, Qiong Shen, Raj S. Sodhi
Adjacent mechanism links are interconnected at their nodes by joints. Joint types differ by both the number and type of degree(s) of freedom (DOF). Six mechanism joint types are illustrated in Figure 3.9. For planar mechanisms, the revolute joint is more commonly used than any other joint. Although the revolute joint is by far the dominant joint type used in practice, as well as in the mechanisms in this textbook, Figure 3.9 includes other common joint types. The revolute joint(R) has one rotational DOF, the prismatic joint(P) has one translational DOF, the cylindrical joint(C) has 2 DOFs—one rotational and one translational—and the spherical joint(S) has three rotational DOFs. The term lower pair describes joints like the R, P, C, and S joints where surface contact occurs (e.g., a ball surrounded by a socket for the S joint or a pin surrounded by a hole for the R joint). Lower pairs are also called full joints [7].
Mobility of Mechanisms
Published in Kevin Russell, Qiong Shen, Raj S. Sodhi, Mechanism Design, 2013
Kevin Russell, Qiong Shen, Raj S. Sodhi
Adjacent mechanism links are interconnected at their nodes by joints. Joint types differ by both the number and type of degree(s) of freedom (DOF). For planar mechanisms, the revolute joint (Figure 2.6a) is more commonly used than any other joint. Although the revolute joint is by far the dominant joint type used in practice as well as in the mechanisms in this textbook, Figure 2.6 includes other common joint types. The revolute joint (R) has one rotational DOF, the prismatic joint (P) has one translational DOF, the cylindrical joint (C) has two DOFs—one rotational and one translational, and the spherical joint (S) has three rotational DOFs. The cylindrical and spherical joints are utilized among the spatial mechanisms introduced in Chapters 7 and 8. The term lower pair describes joints like the R, P, C, and S joints where surface contact occurs (e.g., a ball surrounded by a socket for the S joint or a pin surrounded by a hole for the R joint). Lower pairs are also called full joints [4].
Investigation of dynamic characteristics of revolute-jointed beam using cubic nonlinearity
Published in Mechanics Based Design of Structures and Machines, 2022
Zheng Feng Bai, Xin Jiang, Yang Zhao
Revolute joint has a widely usage in joining substructures on spacecraft, such as solar arrays and trusses, which are smoothly deployed through revolute joints. However, joint components show strong nonlinear characteristics, such as free-play nonlinearity, cubic nonlinearity, and friction hysteresis, which will induce changing of structural dynamics (Lake et al. 1997). For contrivable and computational convenience, in most cases, joint nonlinearity was ignored during the engineering design phase (Riabtsev et al. 2020). However, it cannot be neglected in dynamics modeling and analysis of the high-precision space structures.