Kinematic chain in the context of "JPL"

A robotic arm is a type of mechanical arm, usually programmable, with similar functions to a human arm; the arm may be the sum total of the mechanism or may be part of a more complex robot. The links of such a manipulator are connected by joints allowing either rotational motion (such as in an articulated robot) or translational (linear) displacement. The links of the manipulator can be considered to form a kinematic chain. The terminus of the kinematic chain of the manipulator is called the end effector and it is analogous to the human hand. However, the term "robotic hand" as a synonym of the robotic arm is often proscribed.

Throwing is a physical action that consists of mechanically accelerating a projectile and then releasing it into a ballistic trajectory, usually with the aim of impacting a distant target. Throwing typically refers to hand-throwing by animals with prehensile forelimbs, in which the projectile is grasped in a hand and the proximal limb segments move through compounded kinematic chains to impart a mechanically advantaged swinging motion. For other animals, the definition of throwing is somewhat unclear, as other actions such as spitting or spraying may or may not be included.

Primates are the most proliferative throwers in the animal kingdom, and they typically throw feces as a form of agonistic behavior. Of all primates, humans are by far the most capable throwers, able to throw a large variety of projectiles with great force and accuracy. Throughout human evolution, humans (especially Homo sapiens) have used hand-thrown projectiles for hunting and in warfare — first through rock-throwing, then refined weapon-throwing (e.g. spear, axe or dart), and into modern day with payload-carrying devices such as hand grenades, flashbangs and tear gas canisters.

The evolution of mammalian auditory ossicles was an evolutionary process that resulted in the formation of the mammalian middle ear, where the three middle ear bones or ossicles, namely the incus, malleus and stapes (a.k.a. "the anvil, hammer, and stirrup"), are a defining characteristic of mammals. The event is well-documented and important academically as a demonstration of transitional forms and exaptation, the re-purposing of existing structures during evolution.

The ossicles evolved from skull bones present in most tetrapods, including amphibians, sauropsids (which include extant reptiles and birds) and early synapsids (which include ancestors of mammals). The reptilian quadrate, articular and columella bones are homologs of the mammalian incus, malleus and stapes, respectively. In reptiles (and early synapsids by association), the eardrum is connected to the inner ear via a single bone, the columella, while the upper and lower jaws contain several bones not found in modern mammals. Over the course of mammalian evolution, one bone from the upper jaw (the quadrate) and one from the lower jaw (the articular) lost their function in the jaw articulation and migrated to form the middle ear. The shortened columella connected to these bones to form a kinematic chain of three ossicles, which serve to amplify air-sourced fine vibrations transmitted from the eardrum and facilitate more acute hearing in terrestrial environments.

A mechanical linkage is an assembly of systems connected so as 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.

Linkages may be constructed from open chains, closed chains, or a combination of open and closed chains. Each link in a chain is connected by a joint to one or more other links. Thus, a kinematic chain can be modeled as a graph in which the links are paths and the joints are vertices, which is called a linkage graph.

The ossicles (also called auditory ossicles) are three irregular bones in the middle ear of humans and other mammals, and are among the smallest bones in the human body. Although the term "ossicle" literally means "tiny bone" (from Latin ossiculum) and may refer to any small bone throughout the body, it typically refers specifically to the malleus, incus and stapes ("hammer, anvil, and stirrup") of the middle ear.

The auditory ossicles serve as a kinematic chain to transmit and amplify (intensify) sound vibrations collected from the air by the ear drum to the fluid-filled labyrinth (cochlea). The absence or pathology of the auditory ossicles would constitute a moderate-to-severe conductive hearing loss.