Franz Reuleaux ( French: [ʁœlo] ; German: [ʁøˈloː] ; 30 September 1829 – 20 August 1905) was a German mechanical engineer and a lecturer at Technische Hochschule Berlin (today Technische Universität Berlin ), later appointed as the president of the academy. He was often called the father of kinematics . He was a leader in his profession, contributing to many important domains of science and knowledge.
19-405: Reuleaux may refer to: Franz Reuleaux (1829–1905), German mechanical engineer and lecturer in geometry : Reuleaux polygon , a curve of constant width Reuleaux triangle , a Reuleaux polygon with three sides Reuleaux heptagon, a Reuleaux polygon with seven sides that provides the shape of some currency coins Reuleaux tetrahedron ,
38-412: A kinematic chain is the number of parameters that define the configuration of the chain. A system of n rigid bodies moving in space has 6 n degrees of freedom measured relative to a fixed frame. This frame is included in the count of bodies, so that mobility does not depend on link that forms the fixed frame. This means the degree-of-freedom of this system is M = 6( N − 1) , where N = n + 1
57-652: A professor and industrial consultant, education reformer and leader of the technical elite of Germany. Reuleaux was the appointed chairman of the German panel of judges for the Sixth World Industrial Fair opened in Philadelphia on 10 May 1876. He admitted that German-made goods were far inferior to those of other countries and that German industry's guiding principle was “billig und schlecht” ( English : cheap and shoddy). This shook business and evoked wide comment in
76-403: A rigid body system. We can hinder the motion of these independent rigid bodies with kinematic constraints. Kinematic constraints are constraints between rigid bodies that result in the decrease of the degrees of freedom of rigid body system. The constraint equations of a kinematic chain can be used in reverse to determine the dimensions of the links from a specification of the desired movement of
95-582: Is different from Wikidata All article disambiguation pages All disambiguation pages Franz Reuleaux Today, he may be best remembered for the Reuleaux triangle , a curve of constant width that he helped develop as a useful mechanical form. Reuleaux was born in Eschweiler in Germany (at the time part of Prussia ). His father and grandfather were both mechanical engineers. His technical training
114-416: Is that the mobility of a kinematic chain formed from n moving links and j joints each with freedom f i , i = 1, 2, …, j , is given by Recall that N includes the fixed link. The constraint equations of a kinematic chain couple the range of movement allowed at each joint to the dimensions of the links in the chain, and form algebraic equations that are solved to determine the configuration of
133-488: Is the number of moving bodies plus the fixed body. Joints that connect bodies impose constraints. Specifically, hinges and sliders each impose five constraints and therefore remove five degrees of freedom. It is convenient to define the number of constraints c that a joint imposes in terms of the joint's freedom f , where c = 6 − f . In the case of a hinge or slider , which are one-degree-of-freedom joints, have f = 1 and therefore c = 6 − 1 = 5 . The result
152-399: The base of the chain to its end link, which is equated to the specified position for the end link. A chain of n links connected in series has the kinematic equations, where [ T ] is the transformation locating the end-link—notice that the chain includes a "zeroth" link consisting of the ground frame to which it is attached. These equations are called the forward kinematics equations of
171-465: The chain associated with specific values of input parameters, called degrees of freedom . The constraint equations for a kinematic chain are obtained using rigid transformations [Z] to characterize the relative movement allowed at each joint and separate rigid transformations [X] to define the dimensions of each link. In the case of a serial open chain, the result is a sequence of rigid transformations alternating joint and link transformations from
190-445: The elements (e.g. inversions, changing relative sizes of the links, etc.) he showed how the four-bar linkage could be mutated into 54 mechanisms, which fall within 12 classes. Kinematic chain In mechanical engineering , a kinematic chain is an assembly of rigid bodies connected by joints to provide constrained motion that is the mathematical model for a mechanical system . As
209-538: The intersection of four spheres of equal radius centered at the vertices of a regular tetrahedron Topics referred to by the same term [REDACTED] This disambiguation page lists articles associated with the title Reuleaux . If an internal link led you here, you may wish to change the link to point directly to the intended article. Retrieved from " https://en.wikipedia.org/w/index.php?title=Reuleaux&oldid=1109520906 " Category : Disambiguation pages Hidden categories: Short description
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#1732848220975228-418: The invention of new useful mechanisms. At the expense of the German government, he directed the design and manufacture of over 300 beautiful models of simple mechanisms, such as the four-bar linkage and the crank . These were sold to universities for pedagogical purposes. Today, the most complete set are at Cornell University College of Engineering. Using his notation and methods for systematically varying
247-600: The press. Reuleaux was a consultant to the development of the Otto-Langen internal combustion engine, winner of the 1867 World's Fair in Paris, France, based on efficiency. Reuleaux served on several international juries and commissions and considerably involved in formation of a patent system, as he was active in German politics. In 1877, he was elected as a member of the American Philosophical Society . He
266-441: The serial chain. Kinematic chains of a wide range of complexity are analyzed by equating the kinematics equations of serial chains that form loops within the kinematic chain. These equations are often called loop equations . The complexity (in terms of calculating the forward and inverse kinematics ) of the chain is determined by the following factors: Explanation Two or more rigid bodies in space are collectively called
285-549: The surface contact joints critical to cams and gearing , called higher pairs. These joints are generally modeled as holonomic constraints . A kinematic diagram is a schematic of the mechanical system that shows the kinematic chain. The modern use of kinematic chains includes compliance that arises from flexure joints in precision mechanisms, link compliance in compliant mechanisms and micro-electro-mechanical systems , and cable compliance in cable robotic and tensegrity systems. The degrees of freedom , or mobility, of
304-429: The system. This is termed kinematic synthesis. Perhaps the most developed formulation of kinematic synthesis is for four-bar linkages , which is known as Burmester theory . Ferdinand Freudenstein is often called the father of modern kinematics for his contributions to the kinematic synthesis of linkages beginning in the 1950s. His use of the newly developed computer to solve Freudenstein's equation became
323-482: The word chain suggests, the rigid bodies, or links, are constrained by their connections to other links. An example is the simple open chain formed by links connected in series, like the usual chain, which is the kinematic model for a typical robot manipulator . Mathematical models of the connections, or joints, between two links are termed kinematic pairs . Kinematic pairs model the hinged and sliding joints fundamental to robotics , often called lower pairs and
342-562: Was a member of the Royal Swedish Academy of Sciences from 1882. Reuleaux believed that machines could be abstracted into chains of elementary links called kinematic pairs . Constraints on the machine are described by constraints on each kinematic pair, and the sequence of movements of pairs produces a kinematic chain . He developed a compact symbolic notation to describe the topology of a very wide variety of mechanisms, and showed how it could be used to classify them and even lead to
361-731: Was at the Karlsruhe Polytechnic School . He then studied at universities in Berlin and Bonn. After a time spent in the family business he became a professor at the Swiss Federal Institute in Zürich . Eventually, in 1879 he became Rector at the Königs Technischen Hochschule Berlin – Charlottenburg. This was a major technical institute, with about 300 professors. He became widely known as an engineer-scientist —
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