Parts can move together.
They use joints to move. Some parts slide or turn. This helps machines work. It can move big things. Do you see things that move like this?
Machines use parts to move.
These parts are called links. They are joined at points called joints.
Joints let parts turn or slide. This helps change how a machine moves. A small push can make a big move.
This is how a lift works. It can move heavy things up. These parts work together to do jobs.
A mechanical linkage is a set of parts that work together.
These parts are called links. They are connected by points called joints. Joints let the links rotate or slide. Some links are rigid, which means they do not bend. When links and joints connect in a network, it is called a kinematic chain.
Engineers use linkages to change movement. They can turn one kind of motion into another. For example, a machine might turn a spinning motion into a straight line. This can change how much force is used. The ratio of the output force to the input force is called mechanical advantage.
How many ways a linkage can move is called its degrees of freedom. This is also called mobility. A single joint might only have one degree of freedom. This means it can only move in one way, like a hinge. If one link stays still, the whole thing is called a mechanism.
Many tools use these ideas. A scissor lift uses many links to move up. Robots also use linkages to move their arms.
A mechanical linkage is a group of parts that work together.
These parts are called links. Engineers treat links as rigid, which means they do not bend. The links connect at points called joints. These joints allow for specific types of movement, like sliding or rotating. When you connect these links and joints into a network, it is called a kinematic chain.
If one link in the chain stays still, the whole system is called a mechanism. If the whole system is designed to stay still, it is called a structure.
Linkages are used to change how a machine moves and works. They can turn one kind of movement into a different kind. For example, a linkage can turn a spinning motion into a straight line. This helps change the force used by a machine. The ratio of the output force to the input force is called mechanical advantage.
There is also a speed ratio. This is the ratio of the input speed to the output speed. In an ideal linkage, these two ratios give the same number.
People have studied these systems for a very long time. Archimedes used geometry to study the lever. Later, Leonardo da Vinci brought new energy to the study of machines. In the mid-1700s, James Watt needed a way to make steam engines better. He discovered Watt's linkage to turn a spinning crank into a sliding motion. Later, the mathematician J. J. Sylvester lectured on the Peaucellier linkage. This special tool can turn a spinning motion into a perfect straight line.
Scientists use math to find out how many ways a linkage can move. This number is called the degrees of freedom, or mobility.
A single joint, like a hinge, might only have one degree of freedom. This means it can only move in one specific way. There are many types of joints used in these systems. A revolute joint is a hinge that rotates. A prismatic joint is a part that slides. You can even combine them to make more complex joints, like a universal joint.
Today, linkages are part of many amazing technologies. They are used to build robot arms that can move precisely.
Engineers also use them in machine tools and cable systems. Even scientists studying biology use these ideas to look at proteins. You can see these principles in simple things like a scissor lift.
These machines show how simple parts can create very complicated and useful motions.
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"text": "A mechanical linkage is an assembly of systems connected to manage forces and movement. Engineers study these systems using geometry by treating each component, called a link, as a rigid body. This means the links are modeled as if they do not bend or deform under pressure. The connections between these links are called joints. These joints provide ideal movement, such as pure rotation or sliding. When these rigid links and ideal joints are modeled as a network, the resulting system is called a kinematic chain.
\n\nKinematic chains can be organized into different configurations. They may be constructed as open chains, closed chains, or a combination of both. Each link in a chain connects to one or more other links through a joint. In mathematical terms, a kinematic chain can be modeled as a linkage graph. In this graph, the links act as paths and the joints act as vertices. This mathematical approach helps engineers predict how the entire system will behave when force is applied.\n\nMechanical linkages are designed to transform an input force and movement into a specific output. This transformation is measured using two important ratios. The mechanical advantage is the ratio of the output force to the input force. The speed ratio is the ratio of the input speed to the output speed. In an ideal linkage, these two ratios yield the same numerical value. If one link in the kinematic chain is fixed or stationary, the system is called a mechanism. If the linkage is designed to remain entirely stationary, it is called a structure.\n\nThe study of linkages has a long and rich history. Ancient mathematicians like Archimedes applied geometry to study the lever. For centuries, the works of Archimedes and Hero of Alexandria were the primary sources for machine theory. During the Renaissance, Leonardo da Vinci brought a new inventive energy to the study of mechanisms. In the mid-1700s, James Watt sought to increase the efficiency of steam engines. He discovered Watt's linkage, which could transform the rotation of a crank into a linear slide. Later, J. J. Sylvester lectured on the Peaucellier linkage, which generates an exact straight line from a rotating crank.
\n\nAs mathematics and technology advanced, the study of linkages became more complex. A. B. Kempe showed that linkages for addition and multiplication could trace algebraic curves. In the late 1800s, researchers like F. Reuleaux and L. Burmester formalized the analysis of these systems using descriptive geometry. By the mid-1900s, F. Freudenstein and G. N. Sandor used digital computers to solve loop equations. This helped initiate the era of computer-aided design. Today, these techniques are essential for controlling robot manipulators and studying biological systems like proteins.
\n\nA key concept in linkage design is mobility, also known as degrees of freedom (DOF). The mobility of a system is the number of independent parameters needed to define its configuration. For a system of $n$ rigid bodies moving in space, the total degrees of freedom is $M = 6(N - 1)$, where $N$ is the number of moving bodies plus the fixed body. Joints reduce this mobility by imposing constraints. For example, a hinge or a slider is a one-degree-of-freedom joint. Each of these joints imposes five constraints, reducing the total mobility of the system.
\n\nEngineers often design linkages to move within specific planes or spheres. A planar linkage is designed so all bodies move on parallel planes. A spherical linkage is constructed so all bodies move on concentric spheres. In these cases, the degrees of freedom for a link are reduced from six to three. This changes the mobility formula to $M = 3(N - 2) - \sum c_i$. A common example of a planar simple closed chain is the four-bar linkage. This system has four links and four one-degree-of-freedom joints, resulting in a mobility of exactly one.
\n\nThere are many types of joints used to create these movements. The most common are the revolute joint, which acts as a hinge, and the prismatic joint, which allows sliding. Complex joints are often built by combining these. A universal joint is a serial chain of two revolute joints set at a 90-degree angle. A spherical joint is a chain of three revolute joints that all intersect at a single point. These various combinations allow for the creation of intricate machines, ranging from simple scissor lifts to advanced robotic arms.
",
"media": [
"File:4 bar linkage animated.gif",
"File:Variable stroke engine (Autocar Handbook, Ninth edition).jpg",
"File:Hebebuehne Scissorlift.jpg",
"File:Linkage mobility.png",
"File:Locking pliers.jpg",
"File:Pantograph Mirror.gif"
]
}
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