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12
II. THE STRUCTURAL AND KINEMATIC
ANALYSIS OF MECHANISMS
1. Structure of Mechanisms
Any mechanism consists of separate details. Each mobile detail or a
group of details forming one rigid mobile system of bodies is called a mobile
link of the mechanism.
All motionless details forming one motionless rigid system of bodies are
called a motionless link or a rack.
The connection of two adjoining links that admits their relative
movement, is called a kinematic pair.
Surfaces, lines and points of a link, on which it can adjoin another link
and form a kinematic pair, are referred to as elements of a link.
The connected system of links that forms kinematic pairs is called a
kinematic chain.
Motionless link of mechanisms is a frame or a rack. Now, let's consider
mobile links and give the name to each link according to its movement:
1. Crank is a link, which performs complete circular movement around
some centre (Fig. II.1).
2. Rocker is a link that performs incomplete rotary movement. (Fig. II.2).
3. Connecting rod is a link that performs complex movement (translational
and rotary).
4. Slider is a link that performs only translational movement (Fig. II.3).
5. Guide is a mobile guide link (Fig. II.4).
6. Cam is a detail as a plate, disk, cylinder that has a shaped working surface
used for realization of the movement of a follower of the executive
mechanism according a given law (Fig. II.5).
A
′
A
ϕ - Scope of movement
A
″
Fig. II.1. Fig. II.2.
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