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16
Rectilinear KP (Fig. II.15). T Н =1 S = 5. This is the fifth class
kinematic pair P
5
. The legends are .
Screw KP (Fig. II.16). This pair has only one independent motion.
The angle of rotation ϕ responds to translation shift l, defined as
ϕ=ϕ
π
= C
h
l
2
.
Both movements are connected by single-
valued dependence, therefore
Н =1, S=6 – 1= 5.
The legend is
.
Fig. II.14.
Fig. II.15.
h
Fig. II.16.
X
Y
Z
Fig. II.10.
Fig. II.11.
Fig. II.12.
Fig. II.13.
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