Kinematic chain:
A kinematic chain is the combination of kinematic pairs joined in such a way that the relative motion between them is completely constrained.
Two Equation are used for finding the assembly of links/pairs form the kinematic chain or not
For a Kinematic chain having higher pairs, each higher pair is consider as equivalent to two lower pairs and an additional link
Based on Pair:
L = 2P - 4
Where L = No. of links;
P = Number of Pairs
Based on Joint:
L = 2/3 (J + 2)
Where J = Number of Joints
Example:
L = 2P - 4
L = 2/3 (J +2)
Links = 3
Pair = 3
Joints = 3
Links = 4
Pair = 4
Joints = 4
Links =5
Pair = 5
Joints = 5
L.H.S > R.H.S
Locked
L.H.S = R.H.S
Constrained
L.H.S < R.H.S
Unconstraine
