Sketch a Kinematic Scheme | Help with Joints

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I am not sure if I'm in the right section to post this, but I'm going to try anyway...

http://img124.imageshack.us/img124/6281/clipboard02ub1.jpg

Could anybody please show me how to sketch a kinematc scheme of this structure? I don't know how to represent the joints (especially the sliding ones).

Thank you.
 
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The diagram looks challenging. I'd like to help but I don't know what you mean by a kinematic scheme. What's your ultimate goal? To get an equation for the position/orientation of reference frame six as a function of the position/orientation of all the other reference frames?
 
MikeLizzi said:
The diagram looks challenging. I'd like to help but I don't know what you mean by a kinematic scheme. What's your ultimate goal? To get an equation for the position/orientation of reference frame six as a function of the position/orientation of all the other reference frames?

My goal is to represent that machine replacing its parts with special symbols (basically I have to draw its simplified representation), and it seems easier, now that I found out it can be 3-D.
 
You already have a diagram in 3D. You want to replace that nice diagram with something more abstract? Do you have a symbol set in mind?