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2.1.

1 Kinematic Pairs
As ment ioned in Chapte r 1 , a mechanism is a combinat ion of lin ks which can t ransfor m or
t ransmi t a deter mined mot ion . I n or der to t ransmi t and tr ansfor m mot ion , ever y lin k must be
kept pe r manent ly in contact wi t h ot he r li nks by some ki nd of connection and have mot ion relative
to t hem . Such a mobile connect ion is called a ki ne mat ic p ai r . For example , t he connections bet ween t wo links in Fig . 2-1 t o Fig . 2-6 a re kinematic pairs . A pair t hat per mit s only
relat ive rota tion is called a revol ute pair , as shown in Fig . 2-1 . A pair t hat allows only relative rect ilinea r t ranslat ion is called a sl i di ng pair or p rismat ic p ai r , as s hown in Fig . 2-2 .
T he kinemat ic pairs in Fig . 2-3 to Fig . 2-6 ar e called gear pai r , cam pair , screw p ai r ,
a nd spherical pai r , r espectively . One kinemat ic pair can connect only t wo link s .
T he par t of t he l ink surface which makes contact wi t h anot he r li nk and f or ms a kinemat ic
pair is called a p ai r ele ment . T he combinat ion of t wo such elements on t he con nected lin ks
const i tutes a kinemat ic pair . For example , t he cylindrical sur faces of t he hole and t he shaft in
a revolut e pair ( Fig . 2-1) are t wo pair-element s . T hose connect ions t hat joi n t wo machine element
s fir mly and do not allow t he connected machine element s t o move relat ive t o each ot her ,
such as welds , rivets , or nut s and bolt s , a re not ki nemat ic pairs .
If t wo lin ks con nected by a kinemat ic pair can move relative to each ot her only on a plane ,
t he kinemat ic pair is cal led a plan ar k ine mat ic pai r , ot her wise , a sp at i al ki nemat ic p ai r .
For example , t he r evolute pair in Fig . 2-1 , t he sliding pair in Fig . 2-2 , t he gear pair in Fig .
2-3 , and t he cam pair in Fig . 2-4 are planar pairs , while the scr ew pair in Fig . 2-5 and t he
spherical pair in Fig . 2-6 a re spat ial pairs .
If t wo pair-elements of a kinemat ic pair have sur face contact or i t s equivalent , t he ki nematic
pair is k nown as a lower pai r . T he revolute pair in Fig . 2-1 and t he sliding pair in Fig .
2-2 a re plana r lower pairs , while t he sc rew pair in Fig . 2-5 and t he spherical pair i n Fig . 2-6a re spat
ial lower pairs . Since t he t wo links of a lowe r pair ar e connected by a surface, t he pr essur e bet ween t he t wo links is lower . T his is a simple way of remembe ri ng why i t is called a

4lower pair .
If t he connect ion takes place only at a point or along a line ( assuming t he materials to be
rigid ) , i t is k nown as a hi gher p ai r . T he gear pair i n Fig . 2-3 and t he cam pair i n Fig . 2-4
a re plana r higher pairs . T he connect ion bet ween a ball and a plane is a spa tial higher pair .
Since t he t wo link s of a highe r pair ar e connected by a point or a line , t he pressure bet ween t he
t wo links is higher . That is why i t is called a higher pair .

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