Classification of Kinematic Pairs and Its Applications
Classification of Kinematic Pairs
According to nature of contact
- Lower pair: : A pair of links having surface or area contact between the member.
e.g. nut turning on a screw, shaft rotating in a bearing, all pairs of slider-crank mechanisms. - Higher pair: : When a pair has point or line contact between the links, it is known as higher pair.
e.g. wheel rolling on a surface, cam and follower pair. - Higher pair involves two dissimilar surface contact.
According to Nature of Mechanical Constraint
- Closed pair: When the elements of pair are held mechanically mechanically, it is known as closed pair.
- The contact between the two can be broken by only destruction of at least one of the members.
- All lower pairs are closed pair.
- Open (unclosed pair): : When two links of a pair are in contact either due to force of gravity or some spring action.
e.g. cam follower.
According to Nature of Relative Motion
- Sliding pair: If two links have sliding motion relative to each other, they form sliding pair e.g. A rectangular rod in a rectangular hole in a prism.
- Turning pair: When one link has a turning or revolving motion relative to the other, they constitute a turning or revolving pair. e.g. circular shaft revolving in a bearing.
- Rolling pair: When the links of pair have rolling motion relative to each other, they form a rolling pair, e.g. Rolling wheel on a flat surface, ball and roller bearing.
- Screw pair (Helical): If two mating links have turning as well as sliding motion between them, form a screw pair e.g. lead screw, nut of lathe.
- Spherical pair: When one link in the form of a sphere turns inside a fixed link, it is a spherical pair e.g. ball in socket
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