Kinematic chainIn mechanical engineering, a kinematic chain is an assembly of rigid bodies connected by joints to provide constrained motion that is the mathematical model for a mechanical system. As the word chain suggests, the rigid bodies, or links, are constrained by their connections to other links. An example is the simple open chain formed by links connected in series, like the usual chain, which is the kinematic model for a typical robot manipulator. Mathematical models of the connections, or joints, between two links are termed kinematic pairs.
Kinematic pairIn classical mechanics, a kinematic pair is a connection between two physical objects that imposes constraints on their relative movement (kinematics). German engineer Franz Reuleaux introduced the kinematic pair as a new approach to the study of machines that provided an advance over the motion of elements consisting of simple machines. Kinematics is the branch of classical mechanics which describes the motion of points, bodies (objects) and systems of bodies (groups of objects) without consideration of the causes of motion.
KinematicsKinematics is a subfield of physics, developed in classical mechanics, that describes the motion of points, bodies (objects), and systems of bodies (groups of objects) without considering the forces that cause them to move. Kinematics, as a field of study, is often referred to as the "geometry of motion" and is occasionally seen as a branch of mathematics. A kinematics problem begins by describing the geometry of the system and declaring the initial conditions of any known values of position, velocity and/or acceleration of points within the system.
Mechanism (engineering)In engineering, a mechanism is a device that transforms input forces and movement into a desired set of output forces and movement. Mechanisms generally consist of moving components which may include: Gears and gear trains; Belts and chain drives; Cams and followers; Linkages; Friction devices, such as brakes or clutches; Structural components such as a frame, fasteners, bearings, springs, or lubricants; Various machine elements, such as splines, pins, or keys.
Inverse kinematicsIn computer animation and robotics, inverse kinematics is the mathematical process of calculating the variable joint parameters needed to place the end of a kinematic chain, such as a robot manipulator or animation character's skeleton, in a given position and orientation relative to the start of the chain. Given joint parameters, the position and orientation of the chain's end, e.g. the hand of the character or robot, can typically be calculated directly using multiple applications of trigonometric formulas, a process known as forward kinematics.
Robot kinematicsIn robotics, robot kinematics applies geometry to the study of the movement of multi-degree of freedom kinematic chains that form the structure of robotic systems. The emphasis on geometry means that the links of the robot are modeled as rigid bodies and its joints are assumed to provide pure rotation or translation. Robot kinematics studies the relationship between the dimensions and connectivity of kinematic chains and the position, velocity and acceleration of each of the links in the robotic system, in order to plan and control movement and to compute actuator forces and torques.
Kinematic synthesisIn mechanical engineering, kinematic synthesis (also known as mechanism synthesis) determines the size and configuration of mechanisms that shape the flow of power through a mechanical system, or machine, to achieve a desired performance. The word synthesis refers to combining parts to form a whole. Hartenberg and Denavit describe kinematic synthesis as it is design, the creation of something new. Kinematically, it is the conversion of a motion idea into hardware.
Forward kinematicsIn robot kinematics, forward kinematics refers to the use of the kinematic equations of a robot to compute the position of the end-effector from specified values for the joint parameters. The kinematics equations of the robot are used in robotics, computer games, and animation. The reverse process, that computes the joint parameters that achieve a specified position of the end-effector, is known as inverse kinematics.
Movable typeMovable type (US English; moveable type in British English) is the system and technology of printing and typography that uses movable components to reproduce the elements of a document (usually individual alphanumeric characters or punctuation marks) usually on the medium of paper. The world's first movable type printing technology for paper books was made of porcelain materials and was invented around AD 1040 in China during the Northern Song dynasty by the inventor Bi Sheng (990–1051).
Simple machineA simple machine is a mechanical device that changes the direction or magnitude of a force. In general, they can be defined as the simplest mechanisms that use mechanical advantage (also called leverage) to multiply force. Usually the term refers to the six classical simple machines that were defined by Renaissance scientists: Lever Wheel and axle Pulley Inclined plane Wedge Screw A simple machine uses a single applied force to do work against a single load force.
Global spread of the printing pressThe global spread of the printing press began with the invention of the printing press with movable type by Johannes Gutenberg in Mainz, Germany 1439. Western printing technology was adopted in all world regions by the end of the 19th century, displacing the manuscript and block printing. In the Western world, the operation of a press became synonymous with the enterprise of publishing and lent its name to a new branch of media, the "press" (see List of the oldest newspapers).
Four-bar linkageIn the study of mechanisms, a four-bar linkage, also called a four-bar, is the simplest closed-chain movable linkage. It consists of four bodies, called bars or links, connected in a loop by four joints. Generally, the joints are configured so the links move in parallel planes, and the assembly is called a planar four-bar linkage. Spherical and spatial four-bar linkages also exist and are used in practice. Planar four-bar linkages are constructed from four links connected in a loop by four one-degree-of-freedom joints.
Woodblock printingWoodblock printing or block printing is a technique for printing text, s or patterns used widely throughout East Asia and originating in China in antiquity as a method of printing on textiles and later paper. Each page or image is created by carving a wooden block to leave only some areas and lines at the original level; it is these that are inked and show in the print, in a relief printing process. Carving the blocks is skilled and laborious work, but a large number of impressions can then be printed.
Overconstrained mechanismIn mechanical engineering, an overconstrained mechanism is a linkage that has more degrees of freedom than is predicted by the mobility formula. The mobility formula evaluates the degree of freedom of a system of rigid bodies that results when constraints are imposed in the form of joints between the links. If the links of the system move in three-dimensional space, then the mobility formula is where N is the number of links in the system, j is the number of joints, and fi is the degree of freedom of the ith joint.
History of printing in East AsiaPrinting in East Asia originated from the Han dynasty (220 BCE – 206 CE) in China, evolving from ink rubbings made on paper or cloth from texts on stone tables used during the Han. Printing is considered one of the Four Great Inventions of China that spread throughout the world. A specific type of printing called mechanical woodblock printing on paper started in China during the Tang dynasty before the 8th century CE.
History of printingThe history of printing starts as early as 3000 BC, when the proto-Elamite and Sumerian civilizations used cylinder seals to certify documents written in clay tablets. Other early forms include block seals, hammered coinage, pottery imprints, and cloth printing. Initially a method of printing patterns on cloth such as silk, woodblock printing for texts on paper originated in China by the 7th century during the Tang dynasty, leading to the spread of book production and woodblock printing in other parts of Asia such as Korea and Japan.
Formula OneFormula One (more commonly known as Formula 1 or F1) is the highest class of international racing for open-wheel single-seater formula racing cars sanctioned by the Fédération Internationale de l'Automobile (FIA). The FIA Formula One World Championship has been one of the premier forms of racing around the world since its inaugural season in 1950. The word formula in the name refers to the set of rules to which all participants' cars must conform. A Formula One season consists of a series of races, known as Grands Prix.
