A machine (or mechanical device) is a mechanical structure that uses power to apply forces and control movement to perform an intended action. Machines can be driven by animals and people, by natural forces such as wind and water, and by chemical, thermal, or electrical power, and include a system of mechanisms that shape the actuator input to achieve a specific application of output forces and movement. They can also include computers and sensors that monitor performance and plan movement, often called mechanical systems.
In physics, power is the rate of doing work or transferring heat, the amount of energy transferred or converted per unit time. Having no direction, it is a scalar quantity. In the International System of Units, the unit of power is the joule per second (J/s), known as the watt in honour of James Watt, the eighteenth-century developer of the condenser steam engine. Another common and traditional measure is horsepower. Being the rate of work, the equation for power can be written:
A thermal column is a column of rising air in the lower altitudes of Earth's atmosphere, a form of atmospheric updraft. Thermals are created by the uneven heating of Earth's surface from solar radiation, and are an example of convection, specifically atmospheric convection. The Sun warms the ground, which in turn warms the air directly above it.
In engineering, a mechanism is a device that transforms input forces and movement into a desired set of output forces and movement. Mechanisms generally consist of moving components that can include:
Renaissance natural philosophers identified six simple machines which were the elementary devices that put a load into motion, and calculated the ratio of output force to input force, known today as mechanical advantage.
A simple machine is a mechanical device that changes the direction or magnitude of a force. In general, they can be defined as the simplest mechanisms that use mechanical advantage to multiply force. Usually the term refers to the six classical simple machines which were defined by Renaissance scientists:
Mechanical advantage is a measure of the force amplification achieved by using a tool, mechanical device or machine system. The device preserves the input power and simply trades off forces against movement to obtain a desired amplification in the output force. The model for this is the law of the lever. Machine components designed to manage forces and movement in this way are called mechanisms. An ideal mechanism transmits power without adding to or subtracting from it. This means the ideal mechanism does not include a power source, is frictionless, and is constructed from rigid bodies that do not deflect or wear. The performance of a real system relative to this ideal is expressed in terms of efficiency factors that take into account departures from the ideal.
Modern machines are complex systems that consist of structural elements, mechanisms and control components and include interfaces for convenient use. Examples include a wide range of vehicles, such as automobiles, boats and airplanes, appliances in the home and office, including computers, building air handling and water handling systems, as well as farm machinery, machine tools and factory automation systems and robots.
A vehicle is a machine that transports people or cargo. Vehicles include wagons, bicycles, motor vehicles, railed vehicles, watercraft, amphibious vehicles, aircraft and spacecraft.
A car is a wheeled motor vehicle used for transportation. Most definitions of car say they run primarily on roads, seat one to eight people, have four tires, and mainly transport people rather than goods.
A boat is a watercraft of a large range of type and size. Ships are generally distinguished from boats based on their larger size, shape, and cargo or passenger capacity.
The English word machine comes through Middle French from Latin machina, μαχανάmakhana, Ionic μηχανήmekhane "contrivance, machine, engine", a derivation from μῆχοςmekhos "means, expedient, remedy" ). The word mechanical (Greek: μηχανικός) comes from the same Greek roots. A wider meaning of "fabric, structure" is found in classical Latin, but not in Greek usage. This meaning is found in late medieval French, and is adopted from the French into English in the mid-16th century.which in turn derives from the Greek (Doric
Middle French is a historical division of the French language that covers the period from the 14th to the early 17th centuries. It is a period of transition during which:
Latin is a classical language belonging to the Italic branch of the Indo-European languages. The Latin alphabet is derived from the Etruscan and Greek alphabets, and ultimately from the Phoenician alphabet.
The Ancient Greek language includes the forms of Greek used in Ancient Greece and the ancient world from around the 9th century BCE to the 6th century CE. It is often roughly divided into the Archaic period, Classical period, and Hellenistic period. It is antedated in the second millennium BCE by Mycenaean Greek and succeeded by medieval Greek.
In the 17th century, the word could also mean a scheme or plot, a meaning now expressed by the derived machination. The modern meaning develops out of specialized application of the term to stage engines used in theater and to military siege engines, both in the late 16th and early 17th centuries. The OED traces the formal, modern meaning to John Harris' Lexicon Technicum (1704), which has:
Stagecraft is the technical aspect of theatrical, film, and video production. It includes constructing and rigging scenery; hanging and focusing of lighting; design and procurement of costumes; make-up; stage management; audio engineering; and procurement of props. Stagecraft is distinct from the wider umbrella term of scenography. Considered a technical rather than an artistic field, it is primarily the practical implementation of a scenic designer's artistic vision.
A siege engine is a device that is designed to break or circumvent heavy castle doors, thick city walls and other fortifications in siege warfare. Some are immobile, constructed in place by sappers to attack enemy fortifications from a distance, while others have wheels to enable advancing up to the enemy fortification. There are many distinct types, such as siege towers to allow attacking soldiers to scale walls and attack the defenders, battering rams to break walls or gates, to catapults, ballistae, trebuchets and other similar constructions used to attack from a distance and fire a projectile; some complex siege engines were combinations of these types.
John Harris was an English writer, scientist, and Anglican priest. He is best known as the editor of the Lexicon Technicum: Or, A Universal English Dictionary of Arts and Sciences (1704), the earliest of English encyclopaedias; as the compiler of the Collection of Voyages and Travels, published under his name; and as the author of an unfinished county history of Kent.
The word engine used as a (near-)synonym both by Harris and in later language derives ultimately (via Old French) from Latin ingenium "ingenuity, an invention".
The hand axe, made by chipping flint to form a wedge, in the hands of a human transforms force and movement of the tool into a transverse splitting forces and movement of the workpiece.
The idea of a simple machine originated with the Greek philosopher Archimedes around the 3rd century BC, who studied the Archimedean simple machines: lever, pulley, and screw.Archimedes discovered the principle of mechanical advantage in the lever. Later Greek philosophers defined the classic five simple machines (excluding the inclined plane) and were able to roughly calculate their mechanical advantage. Heron of Alexandria (ca. 10–75 AD) in his work Mechanics lists five mechanisms that can "set a load in motion"; lever, windlass, pulley, wedge, and screw, and describes their fabrication and uses. However, the Greeks' understanding was limited to statics (the balance of forces) and did not include dynamics (the tradeoff between force and distance) or the concept of work.
During the Renaissance the dynamics of the Mechanical Powers, as the simple machines were called, began to be studied from the standpoint of how much useful work they could perform, leading eventually to the new concept of mechanical work. In 1586 Flemish engineer Simon Stevin derived the mechanical advantage of the inclined plane, and it was included with the other simple machines. The complete dynamic theory of simple machines was worked out by Italian scientist Galileo Galilei in 1600 in Le Meccaniche ("On Mechanics").He was the first to understand that simple machines do not create energy, they merely transform it.
The classic rules of sliding friction in machines were discovered by Leonardo da Vinci (1452–1519), but remained unpublished in his notebooks. They were rediscovered by Guillaume Amontons (1699) and were further developed by Charles-Augustin de Coulomb (1785).
James Watt patented his parallel motion linkage in 1782, which made the double acting steam engine practical.The Boulton and Watt steam engine and later designs powered steam locomotives, steam ships, and factories.
The Industrial Revolution was a period from 1750 to 1850 where changes in agriculture, manufacturing, mining, transportation, and technology had a profound effect on the social, economic and cultural conditions of the times. It began in the United Kingdom, then subsequently spread throughout Western Europe, North America, Japan, and eventually the rest of the world.
Starting in the later part of the 18th century, there began a transition in parts of Great Britain's previously manual labour and draft-animal–based economy towards machine-based manufacturing. It started with the mechanisation of the textile industries, the development of iron-making techniques and the increased use of refined coal.
The idea that a machine can be decomposed into simple movable elements led Archimedes to define the lever, pulley and screw as simple machines. By the time of the Renaissance this list increased to include the wheel and axle, wedge and inclined plane. The modern approach to characterizing machines focusses on the components that allow movement, known as joints.
Wedge (hand axe): Perhaps the first example of a device designed to manage power is the hand axe, also see biface and Olorgesailie. A hand axe is made by chipping stone, generally flint, to form a bifacial edge, or wedge. A wedge is a simple machine that transforms lateral force and movement of the tool into a transverse splitting force and movement of the workpiece. The available power is limited by the effort of the person using the tool, but because power is the product of force and movement, the wedge amplifies the force by reducing the movement. This amplification, or mechanical advantage is the ratio of the input speed to output speed. For a wedge this is given by 1/tanα, where α is the tip angle. The faces of a wedge are modeled as straight lines to form a sliding or prismatic joint.
Lever: The lever is another important and simple device for managing power. This is a body that pivots on a fulcrum. Because the velocity of a point farther from the pivot is greater than the velocity of a point near the pivot, forces applied far from the pivot are amplified near the pivot by the associated decrease in speed. If a is the distance from the pivot to the point where the input force is applied and b is the distance to the point where the output force is applied, then a/b is the mechanical advantage of the lever. The fulcrum of a lever is modeled as a hinged or revolute joint.
Wheel: The wheel is clearly an important early machine, such as the chariot. A wheel uses the law of the lever to reduce the force needed to overcome friction when pulling a load. To see this notice that the friction associated with pulling a load on the ground is approximately the same as the friction in a simple bearing that supports the load on the axle of a wheel. However, the wheel forms a lever that magnifies the pulling force so that it overcomes the frictional resistance in the bearing.
The classification of simple machines to provide a strategy for the design of new machines was developed by Franz Reuleaux, who collected and studied over 800 elementary machines.He recognized that the classical simple machines can be separated into the lever, pulley and wheel and axle that are formed by a body rotating about a hinge, and the inclined plane, wedge and screw that are similarly a block sliding on a flat surface.
Simple machines are elementary examples of kinematic chains or linkages that are used to model mechanical systems ranging from the steam engine to robot manipulators. The bearings that form the fulcrum of a lever and that allow the wheel and axle and pulleys to rotate are examples of a kinematic pair called a hinged joint. Similarly, the flat surface of an inclined plane and wedge are examples of the kinematic pair called a sliding joint. The screw is usually identified as its own kinematic pair called a helical joint.
This realization shows that it is the joints, or the connections that provide movement, that are the primary elements of a machine. Starting with four types of joints, the rotary joint, sliding joint, cam joint and gear joint, and related connections such as cables and belts, it is possible to understand a machine as an assembly of solid parts that connect these joints called a mechanism .
Two levers, or cranks, are combined into a planar four-bar linkage by attaching a link that connects the output of one crank to the input of another. Additional links can be attached to form a six-bar linkage or in series to form a robot.
A mechanical system manages power to accomplish a task that involves forces and movement. Modern machines are systems consisting of (i) a power source and actuators that generate forces and movement, (ii) a system of mechanisms that shape the actuator input to achieve a specific application of output forces and movement, (iii) a controller with sensors that compare the output to a performance goal and then directs the actuator input, and (iv) an interface to an operator consisting of levers, switches, and displays.
This can be seen in Watt's steam engine (see the illustration) in which the power is provided by steam expanding to drive the piston. The walking beam, coupler and crank transform the linear movement of the piston into rotation of the output pulley. Finally, the pulley rotation drives the flyball governor which controls the valve for the steam input to the piston cylinder.
The adjective "mechanical" refers to skill in the practical application of an art or science, as well as relating to or caused by movement, physical forces, properties or agents such as is dealt with by mechanics.Similarly Merriam-Webster Dictionary defines "mechanical" as relating to machinery or tools.
Power flow through a machine provides a way to understand the performance of devices ranging from levers and gear trains to automobiles and robotic systems. The German mechanician Franz Reuleauxwrote, "a machine is a combination of resistant bodies so arranged that by their means the mechanical forces of nature can be compelled to do work accompanied by certain determinate motion." Notice that forces and motion combine to define power.
More recently, Uicker et al.stated that a machine is "a device for applying power or changing its direction." McCarthy and Soh describe a machine as a system that "generally consists of a power source and a mechanism for the controlled use of this power."
Human and animal effort were the original power sources for early machines.
Waterwheel: Waterwheels appeared around the world around 300 BC to use flowing water to generate rotary motion, which was applied to milling grain, and powering lumber, machining and textile operations. Modern water turbines use water flowing through a dam to drive an electric generator.
Windmill: Early windmills captured wind power to generate rotary motion for milling operations. Modern wind turbines also drives a generator. This electricity in turn is used to drive motors forming the actuators of mechanical systems.
Engine: The word engine derives from "ingenuity" and originally referred to contrivances that may or may not be physical devices. See Merriam-Webster's definition of engine. A steam engine uses heat to boil water contained in a pressure vessel; the expanding steam drives a piston or a turbine. This principle can be seen in the aeolipile of Hero of Alexandria. This is called an external combustion engine.
An automobile engine is called an internal combustion engine because it burns fuel (an exothermic chemical reaction) inside a cylinder and uses the expanding gases to drive a piston. A jet engine uses a turbine to compress air which is burned with fuel so that it expands through a nozzle to provide thrust to an aircraft, and so is also an "internal combustion engine."
Power plant: The heat from coal and natural gas combustion in a boiler generates steam that drives a steam turbine to rotate an electric generator. A nuclear power plant uses heat from a nuclear reactor to generate steam and electric power. This power is distributed through a network of transmission lines for industrial and individual use.
Motors: Electric motors use either AC or DC electric current to generate rotational movement. Electric servomotors are the actuators for mechanical systems ranging from robotic systems to modern aircraft.
Fluid Power: Hydraulic and pneumatic systems use electrically driven pumps to drive water or air respectively into cylinders to power linear movement.
The mechanism of a mechanical system is assembled from components called machine elements . These elements provide structure for the system and control its movement.
The structural components are, generally, the frame members, bearings, splines, springs, seals, fasteners and covers. The shape, texture and color of covers provide a styling and operational interface between the mechanical system and its users.
The assemblies that control movement are also called "mechanisms."Mechanisms are generally classified as gears and gear trains, which includes belt drives and chain drives, cam and follower mechanisms, and linkages, though there are other special mechanisms such as clamping linkages, indexing mechanisms, escapements and friction devices such as brakes and clutches.
The number of degrees of freedom of a mechanism, or its mobility, depends on the number of links and joints and the types of joints used to construct the mechanism. The general mobility of a mechanism is the difference between the unconstrained freedom of the links and the number of constraints imposed by the joints. It is described by the Chebychev-Grübler-Kutzbach criterion.
The transmission of rotation between contacting toothed wheels can be traced back to the Antikythera mechanism of Greece and the south-pointing chariot of China. Illustrations by the renaissance scientist Georgius Agricola show gear trains with cylindrical teeth. The implementation of the involute tooth yielded a standard gear design that provides a constant speed ratio. Some important features of gears and gear trains are:
A cam and follower is formed by the direct contact of two specially shaped links. The driving link is called the cam (also see cam shaft) and the link that is driven through the direct contact of their surfaces is called the follower. The shape of the contacting surfaces of the cam and follower determines the movement of the mechanism.
A linkage is a collection of links connected by joints. Generally, the links are the structural elements and the joints allow movement. Perhaps the single most useful example is the planar four-bar linkage. However, there are many more special linkages:
A planar mechanism is a mechanical system that is constrained so the trajectories of points in all the bodies of the system lie on planes parallel to a ground plane. The rotational axes of hinged joints that connect the bodies in the system are perpendicular to this ground plane.
A spherical mechanism is a mechanical system in which the bodies move in a way that the trajectories of points in the system lie on concentric spheres. The rotational axes of hinged joints that connect the bodies in the system pass through the center of these circle.
A spatial mechanism is a mechanical system that has at least one body that moves in a way that its point trajectories are general space curves. The rotational axes of hinged joints that connect the bodies in the system form lines in space that do not intersect and have distinct common normals.
A flexure mechanism consists of a series of rigid bodies connected by compliant elements (also known as flexure joints) that is designed to produce a geometrically well-defined motion upon application of a force.
The elementary mechanical components of a machine are termed machine elements . These elements consist of three basic types (i) structural components such as frame members, bearings, axles, splines, fasteners, seals, and lubricants, (ii) mechanisms that control movement in various ways such as gear trains, belt or chain drives, linkages, cam and follower systems, including brakes and clutches, and (iii) control components such as buttons, switches, indicators, sensors, actuators and computer controllers.While generally not considered to be a machine element, the shape, texture and color of covers are an important part of a machine that provide a styling and operational interface between the mechanical components of a machine and its users.
A number of machine elements provide important structural functions such as the frame, bearings, splines, spring and seals.
Controllers combine sensors, logic, and actuators to maintain the performance of components of a machine. Perhaps the best known is the flyball governor for a steam engine. Examples of these devices range from a thermostat that as temperature rises opens a valve to cooling water to speed controllers such as the cruise control system in an automobile. The programmable logic controller replaced relays and specialized control mechanisms with a programmable computer. Servomotors that accurately position a shaft in response to an electrical command are the actuators that make robotic systems possible.
Charles Babbage designed machines to tabulate logarithms and other functions in 1837. His Difference engine can be considered an advanced mechanical calculator and his Analytical Engine a forerunner of the modern computer, though none were built in Babbage's lifetime.
The Arithmometer and the Comptometer are mechanical computers that are precursors to modern digital computers. Models used to study modern computers are termed State machine and Turing machine.
The biological molecule myosin reacts to ATP and ADP to alternately engage with an actin filament and change its shape in a way that exerts a force, and then disengage to reset its shape, or conformation. This acts as the molecular drive that causes muscle contraction. Similarly the biological molecule kinesin has two sections that alternately engage and disengage with microtubules causing the molecule to move along the microtubule and transport vesicles within the cell, and dynein, which moves cargo inside cells towards the nucleus and produces the axonemal beating of motile cilia and flagella. "[I]n effect, the [motile cilium] is a nanomachine composed of perhaps over 600 proteins in molecular complexes, many of which also function independently as nanomachines...Flexible linkers allow the mobile protein domains connected by them to recruit their binding partners and induce long-range allostery via protein domain dynamics. " [ citation needed ] RNA polymerases for producing mRNA,[ citation needed ] the spliceosome for removing introns, and the ribosome for synthesising proteins. These machines and their nanoscale dynamics are far more complex than any molecular machines that have yet been artificially constructed. These molecules are increasingly considered to be nanomachines.[ citation needed ]Other biological machines are responsible for energy production, for example ATP synthase which harnesses energy from proton gradients across membranes to drive a turbine-like motion used to synthesise ATP, the energy currency of a cell. Still other machines are responsible for gene expression, including DNA polymerases for replicating DNA,
Researchers have used DNA to construct nano-dimensioned four-bar linkages.
Mechanization or mechanisation (BE) is providing human operators with machinery that assists them with the muscular requirements of work or displaces muscular work. In some fields, mechanization includes the use of hand tools. In modern usage, such as in engineering or economics, mechanization implies machinery more complex than hand tools and would not include simple devices such as an un-geared horse or donkey mill. Devices that cause speed changes or changes to or from reciprocating to rotary motion, using means such as gears, pulleys or sheaves and belts, shafts, cams and cranks, usually are considered machines. After electrification, when most small machinery was no longer hand powered, mechanization was synonymous with motorized machines.
Automation is the use of control systems and information technologies to reduce the need for human work in the production of goods and services. In the scope of industrialization, automation is a step beyond mechanization. Whereas mechanization provides human operators with machinery to assist them with the muscular requirements of work, automation greatly decreases the need for human sensory and mental requirements as well. Automation plays an increasingly important role in the world economy and in daily experience.
An automaton (plural: automata or automatons) is a self-operating machine. The word is sometimes used to describe a robot, more specifically an autonomous robot. A Toy Automaton was patented in 1863.
Usherreports that Hero of Alexandria's treatise on Mechanics focussed on the study of lifting heavy weights. Today mechanics refers to the mathematical analysis of the forces and movement of a mechanical system, and consists of the study of the kinematics and dynamics of these systems.
The dynamic analysis of machines begins with a rigid-body model to determine reactions at the bearings, at which point the elasticity effects are included. The rigid-body dynamics studies the movement of systems of interconnected bodies under the action of external forces. The assumption that the bodies are rigid, which means that they do not deform under the action of applied forces, simplifies the analysis by reducing the parameters that describe the configuration of the system to the translation and rotation of reference frames attached to each body.
The dynamics of a rigid body system is defined by its equations of motion, which are derived using either Newtons laws of motion or Lagrangian mechanics. The solution of these equations of motion defines how the configuration of the system of rigid bodies changes as a function of time. The formulation and solution of rigid body dynamics is an important tool in the computer simulation of mechanical systems.
The dynamic analysis of a machine requires the determination of the movement, or kinematics, of its component parts, known as kinematic analysis. The assumption that the system is an assembly of rigid components allows rotational and translational movement to be modeled mathematically as Euclidean, or rigid, transformations. This allows the position, velocity and acceleration of all points in a component to be determined from these properties for a reference point, and the angular position, angular velocity and angular acceleration of the component.
Machine design refers to the procedures and techniques used to address the three phases of a machine's lifecycle:
A pulley is a wheel on an axle or shaft that is designed to support movement and change of direction of a taut cable or belt, or transfer of power between the shaft and cable or belt. In the case of a pulley supported by a frame or shell that does not transfer power to a shaft, but is used to guide the cable or exert a force, the supporting shell is called a block, and the pulley may be called a sheave.
A cam is a rotating or sliding piece in a mechanical linkage used especially in transforming rotary motion into linear motion. It is often a part of a rotating wheel or shaft that strikes a lever at one or more points on its circular path. The cam can be a simple tooth, as is used to deliver pulses of power to a steam hammer, for example, or an eccentric disc or other shape that produces a smooth reciprocating motion in the follower, which is a lever making contact with the cam.
An actuator is a component of a machine that is responsible for moving and controlling a mechanism or system, for example by opening a valve. In simple terms, it is a "mover".
The term ideal machine refers to a hypothetical mechanical system in which energy and power are not lost or dissipated through friction, deformation, wear, or other inefficiencies. Ideal machines have the theoretical maximum performance, and therefore are used as a baseline for evaluating the performance of real machine systems.
Franz Reuleaux, was a mechanical engineer and a lecturer of the Berlin Royal Technical Academy, 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.
The parallel motion is a mechanical linkage invented by the Scottish engineer James Watt in 1784 for the double-acting Watt steam engine. It allows a rod moving practically straight up and down to transmit motion to a beam moving in an arc, without putting significant sideways strain on the rod.
The Walschaerts valve gear is a type of valve gear invented by Belgian railway mechanical engineer Egide Walschaerts in 1844 used to regulate the flow of steam to the pistons in steam engines. The gear is sometimes named without the final "s", since it was incorrectly patented under that name. It was extensively used in steam locomotives from the late 19th century until the end of the steam era.
Watt's linkage is a type of mechanical linkage invented by James Watt in which the central moving point of the linkage is constrained to travel on an approximation to a straight line. It was described in Watt's patent specification of 1784 for the Watt steam engine. It is also used in automobile suspensions, allowing the axle of a vehicle to travel vertically while preventing sideways motion.
A four-bar linkage, also called a four-bar, is the simplest movable closed chain linkage. It consists of four bodies, called bars or links, connected in a loop by four joints. Generally, the joints are configured so the links move in parallel planes, and the assembly is called a planar four-bar linkage. Spherical and spatial four-bar linkages also exist and are used in practice.
A mechanical linkage is an assembly of bodies connected to manage forces and movement. The movement of a body, or link, is studied using geometry so the link is considered to be rigid. The connections between links are modeled as providing ideal movement, pure rotation or sliding for example, and are called joints. A linkage modeled as a network of rigid links and ideal joints is called a kinematic chain.
A linear actuator is an actuator that creates motion in a straight line, in contrast to the circular motion of a conventional electric motor. Linear actuators are used in machine tools and industrial machinery, in computer peripherals such as disk drives and printers, in valves and dampers, and in many other places where linear motion is required. Hydraulic or pneumatic cylinders inherently produce linear motion. Many other mechanisms are used to generate linear motion from a rotating motor.
In physics, the degree of freedom (DOF) of a mechanical system is the number of independent parameters that define its configuration. It is the number of parameters that determine the state of a physical system and is important to the analysis of systems of bodies in mechanical engineering, aeronautical engineering, robotics, and structural engineering.
The following outline is provided as an overview of and topical guide to machines:
Electromagnetic clutches operate electrically but transmit torque mechanically. This is why they used to be referred to as electro-mechanical clutches. Over the years, EM became known as electromagnetic versus electro-mechanical, referring more about their actuation method versus physical operation. Since the clutches started becoming popular over 60 years ago, the variety of applications and clutch designs has increased dramatically, but the basic operation remains the same today.
A kinematic pair is a connection between two bodies that imposes constraints on their relative movement. Franz Reuleaux introduced the kinematic pair as a new approach to the study of machines that provided an advance over the motion of elements consisting of simple machines.
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 in the familiar use of the word chain, 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.
Machine element refers to an elementary component of a machine. These elements consist of three basic types:
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