A complex link is a rigid body that contains more than two joints. Figure 1.6b illustrates a complex link.

A rocker arm is a complex link, containing three joints, that is pivoted near its center. A bellcrank is similar to a rocker arm, but is bent in the center. The complex link shown in Figure 1.6b is a bellcrank. A point of interest is a point on a link where the motion is of special interest. The end of the windshield wiper, previously discussed, would be considered a point of interest. Once kinematic analysis is performed, the displacement, velocity, and accelerations of that point are determined. The last general component of a mechanism is the actuator. An actuator is the component that drives the mechanism. Common actuators include motors (electric and hydraulic), engines, cylinders (hydraulic and pneumatic), ball-screw motors, and solenoids. Manually operated machines utilize human motion, such as turning a crank, as the actuator. Actuators will be discussed further in Section 1.7. Linkages can be either open or closed chains. Each link in a closed-loop kinematic chain is connected to two or more other links. The lift in Figure 1.2 and the elliptical trainer of Figure 1.3 are closed-loop chains. An open-loop chain will have at least one link that is connected to only one other link. Common open-loop linkages are robotic arms as shown in Figure 1.7 and other reaching machines such as backhoes and cranes.

1.5 KINEMATIC DIAGRAMS

In analyzing the motion of a machine, it is often difficult to visualize the movement of the components in a full assembly drawing. Figure 1.8 shows a machine that is used to handle parts on an assembly line. A motor produces rotational power, which drives a mechanism that moves the arms back and forth in a synchronous fashion.As can be seen in Figure 1.8, a pictorial of the entire machine becomes complex, and it is difficult to focus on the motion of the mechanism under consideration.