Integrated application resource: Kinematics ISO 10303-105:2019(E)
© ISO

Cover page
Table of contents
Copyright
Foreword
Introduction
1 Scope
2 Normative references
3 Terms, definitions and abbreviated terms
    3.1 Terms and definitions
    3.2 Abbreviated terms
4 Kinematic property
   4.1 General
   4.2 Fundamental concepts and assumptions
   4.3 Kinematic property entity definitions
   4.4 Kinematic property subtype constraint definition

5 Kinematic topology
   5.1 General
   5.2 Fundamental concepts and assumptions
   5.3 Kinematic topology type definition
   5.4 Kinematic topology entity definitions
   5.5 Kinematic topology subtype constraint definition
   5.6 Kinematic topology function definitions
6 Kinematic structure
   6.1 General
   6.2 Fundamental concepts and assumptions
   6.3 Kinematic structure type definitions
   6.4 Kinematic structure entity definitions
   6.5 Kinematic structure subtype constraint definition
   6.6 Kinematic structure function definitions

7 Kinematic state
   7.1 General
   7.2 Fundamental concepts and assumptions
   7.3 Kinematic state type definitions
   7.4 Kinematic state entity definitions
   7.5 Kinematic state subtype constraint definition
   7.6 Kinematic state function definitions
8 Kinematic motion representation
   8.1 General
   8.2 Fundamental concepts and assumptions
   8.3 Kinematic motion representation type definitions
   8.4 Kinematic motion representation entity definitions
   8.5 Kinematic motion representation subtype constraint definitions
9 Kinematic analysis control and result
   9.1 General
   9.2 Fundamental concepts and assumptions
   9.3 Kinematic analysis control and result type definitions
   9.4 Kinematic analysis control and result entity definitions
   9.5 Kinematic analysis control and result subtype constraint definition
A Short names of entities
B Information object registration
C Computer interpretable listings
D EXPRESS-G diagrams
E Technical discussion
F Change history
Bibliography
Index

3 Terms, definitions and abbreviated terms

3.1 Terms and definitions

3.1.1 Terms defined in ISO 10303-1

For the purposes of this document, the following terms defined in ISO 10303-1 apply:

3.1.2 Terms defined in ISO 10303-42

For the purposes of this document, the following terms defined in ISO 10303-42 apply:

3.1.3 Other terms and definitions

For the purposes of this document, the following terms and definitions apply:

3.1.3.1
base

a link which is fixed to the ground or whose motion is prescribed along a defined path

3.1.3.2
frame

a coordinate system used in kinematic representations

3.1.3.3
ground

the immobile part of a mechanical product in the world coordinate system

3.1.3.4
joint

the topological aspect of an ordered connection or motion constraint between two and only two links

3.1.3.5
kinematic chain

a sequence of kinematic links connected by joints

3.1.3.6
kinematics

the description of movable mechanical structures consisting of joints and links including the number, location, and orientation of the joints

3.1.3.7
linear flexible link

a link whose shape can bend in one direction.

EXAMPLE    Roller chain, conveyor belt and wire rope are typical examples of a linear flexible link.

3.1.3.8
link

a rigid kinematic object whose motion is constrained by one or more joints

3.1.3.9
link frame

the local coordinate system of a link, implicitly defined as the geometric context of the link, with respect to which all geometric definitions of the link are defined

3.1.3.10
loop

a part of a mechanical structure whose joints and links together form a closed kinematic chain

3.1.3.11
mechanism

a mechanical product whose motion is constrained by joints

3.1.3.12
motion

change of position and orientation of a rigid body

3.1.3.13
pair

the geometric aspect of either an ordered connection or motion constraint between two and only two links

3.1.3.14
pair actuation

the assignment of a pair value to a kinematic pair by an application

3.1.3.15
pair frame

a coordinate system of a link that is defined relatively to the link frame, used to establish the geometric relationship of a pair

3.1.3.16
placement

the location and orientation of a frame

3.1.3.17
rigid link

a link with a fixed shape that is not deforming in use or where the deformation can be neglected

3.1.3.18
SU-parameters

the parameters that specify the placement between a pair of frames

3.1.3.19
transform

a representation of a placement that is specified with respect to an independent reference frame

3.1.3.20
world coordinate system

the initial coordinate system from which all other frames are defined

3.1.3.21
yaw

the angle of rotation about the zøaxis

3.2 Abbreviated terms

For the purposes of this document, the following abbreviated terms apply:

URL uniform resource locator
DOF degree of freedom
SU Sheth-Uicker
ypr rotation angles called yaw, pitch, and roll


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