KINEMATIC CHAIN

KINEMATIC CHAIN -: A kinematic chain is one in which the number of links are so connected that the relative motion of any point on a link with re-spect to any other point on the other link follows a law.
For a kinematic chain the relationship between number of links L and number of joints J is -
L = 2/3 ( J+2 )
In the above equation, each higher pair is taken equivalent to two lower pairs and an additional link.


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