On the geometry of planar joints

...This study consists of fife parts. The first section is reserved for introduction purposes. In the second part, basic kinematic concepts are discussed. Degrees of freedom, rotary joint, prismatic (sliding) joint, universal joint, cylindrical joint or c-joint, basic configurations, holonomic constraints, RRRP slide-crank, homogeneous transformations, also planar motion i.e. rotational motion, translational motion and rotation/translation movement was introduced. In the third section, connection systems are introduced. Connections are classified according to the type and number of assembled connections. Connections formed from hinges and sliders are examined under three main headings: planar, spherical and spatial. In the fourth chapter, mechanisms consisting of connections moving in parallel planes are discussed. These connections consist of rotary joints whose axes are perpendicular to the plane and prismatic joints that move along parallel lines. Additionally, RR, PR and RP open chains and closed chains created from them, as well as 3R and RPR planar robots, were also examined.