How does A MECHANISM work Lower Pairs square X-section Revolute (R)joint-1 DOF Prismatic (P)joint-1 DOF Helical (H)joint-1 DOF 铰链副 移动副△9 螺旋副 Ar △y +40 Cylindric (C)joint-2 DOF Spherical (S)joint-3 DOF 柱销副 球铰副 %"罩省3pof FIGURE 2-3 (a)The six lower pairs Prismatic Revolute Cylindric Spherical Helical Planar(F) DOF How does A MECHANISM work Higher Pairs-1 Names Typical form Degree of Comments freedom Roller rotates about this line at this Cylindrical instant in its motion.Roller does not slip on the surface on which it roller rolls. Cam rolls and slides on follower. Cam pair Spur gears.helical gears.and other gears.(rolls slides) Gear pair 77 Prismatic Revolute Cylindric Spherical Helical Planar (F) DOF 1 1 2 3 1 3 Lower Pairs How does A MECHANISM work 铰链副 移动副 螺旋副 柱销副 球铰副 平面副 Higher Pairs-1 How does A MECHANISM work