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15
Z
X
Y
Fig. II.8.
Fig. II.9.
Z
X
Y
All kinematic pairs are divided into classes (5 classes) depending on the
number of constraint conditions
.
Cylinder - plane (Fig. II.9).
RRTT Н = 4 S = 6 – Н = 2.
This is a second class kinematic pair of higher
degree P
2
.
The legend is
Prism - plane (Fig. II.10).
RTT Н = 3 S = 6 – Н = 3.
This is a third class kinematic pair P
3
(lower).
The legend is
Cylindrical KP
(Fig. II.11).
RT Н= 2 S= 4.
This is the fourth class kinematic pair P
4
.
The legends are
Spherical KP (Fig. II.12).
RRR Н = 3 S = 6 – H = 3.
This is the third class kinematic pair P
3
.
The legend is
Spherical with a finger KP (Fig. II.13).
RR Н=2 S= 4.
This is the fourth class kinematic pair P
4
.
The legend is
Cylindrical with collars (Fig. II.14).
R Н = 1 S = 5.
This is the fifth class kinematic pair P
5
.
The legends are
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