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Le Chi Hiep
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As I know, when a link in a kinematic chain is fixed, the kinematic chain will become a mechanism. And, I only know the definition of the DOF of a mechanism. Is there the definition of the DOF of a kinematic chain ?
Wikipedia.org said:The degrees of freedom, or mobility, of a kinematic chain is the number of parameters that define the configuration of the chain.[2][5] A system of n rigid bodies moving in space has 6n degrees of freedom measured relative to a fixed frame. This frame is included in the count of bodies, so that mobility does not depend on link that forms the fixed frame. This means the degree-of-freedom of this system is M=6(N-1), where N=n+1 is the number of moving bodies plus the fixed body.
A Kinematic Chain is a term used to describe a series of interconnected links and joints that are used to transmit motion from one link to another in a mechanical system. It is often referred to as a mechanism.
The terms Kinematic Chain and Kinematic Mechanism are often used interchangeably, but there is a subtle difference between the two. A Kinematic Chain refers to the physical components of a mechanical system, while a Kinematic Mechanism includes the Kinematic Chain as well as the mathematical equations and analysis used to describe the motion of the system.
There are three main types of Kinematic Chains: open, closed, and complex. An open chain is a series of links connected by joints, with one end being free to move. A closed chain is a series of links connected in a loop, where all the joints are fixed. A complex chain is a combination of open and closed chains.
Kinematic Chains and Mechanisms are used in a wide variety of practical applications, such as robotics, automotive engineering, and manufacturing. They are used to create precise and efficient movement in machines, allowing them to perform tasks with accuracy and repeatability.
To analyze and design a Kinematic Chain or Mechanism, one must have a thorough understanding of kinematics, which is the study of motion and its causes. This involves using mathematical equations and computer simulations to predict the behavior of the system and optimize its design for specific tasks and conditions.