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Degrees of freedom
Degree-of-freedom (DoF)
Degree of freedom (also called the
mobility M) of a system can be defined as:
the number of inputs which need to be provided
number
of
independent
coordinates
Open Mechanism
DOF=3
Closed Mechanism
DOF=1
Another example
Consider a four bar chain, as shown in figure. A
little consideration will show that only one variable
such as is needed to define the relative positions
of all the links.
In other words, we say that the number of
degrees of freedom of a four bar chain is one.
shown in Figure.
in
which
the
resulting
four
bar
Determining DoFs
Now let us consider a plane mechanism
with I number of links.
Since in a mechanism, one of the links is
to be fixed, therefore the number of
movable links will be (I - 1) and thus the
total number of degrees of freedom will
be 3 (I - 1) before they are connected to
any other link.
Determining DoFs
In general, a mechanism with l number of links
connected by j number of binary joints or lower
pairs (i.e. single degree of freedom pairs) and h
number of higher pairs (i.e. two degree of freedom
pairs), then the number of degrees of freedom of a
mechanism is given by
M = 3 (I - 1) - 2j h
This equation is called Grueblers criterion for
the movability of a mechanism having plane
motion.
If there are no two degree of freedom pairs (i.e.
higher pairs), then h = 0. Substituting h = 0 in
equation, we have
M = 3 (I - 1) - 2j
Where
M = 3 (L 1) - 2J1- J2
Important Note !!
It should be noted that
Grueblers/Kutzbachs
equation
sizes
or
their quantity.
shapes,
only
Preloaded Structure
Kutzbachs criterion of
mobility
M = 3 (L 1) - 2J1- J2
L = 3, J1= 3, j2=0 M= 0; implying that
this system of links is not a mechanism,
but a structure.
L = 4, J1= 4, j2=0
M= 1; implying system
of interconnected links in
has mobility 1, which
means that any link can
be used as input link
L = 4, J1= 4, j2=0
M= 1; implying system
of interconnected links in
has mobility 1, which
means that any link can
be used as input link
(driver) in this
L = 5, J1= 5, j2=0
mechanism.
M= 2; implying system
of interconnected links in
has mobility 2, which
means that any two links
can be used as input links
(drivers) in this
Example: 1
Example: 2
Example: 3
L= number of links = 6
J= number f full joints = 7.5 DOF = 0
Example: 4
L= number of links = 6
J1= number of full joints = 6 &
J2= number of half joints = 1 DOF = 2
Example: 5
Multiple Joint
L= number of links = 10
J1= number of full joints = 13 &
J2= number of half joints = 0 DOF = 1
Exercise: 1
Determine the degrees of freedom of a six bar linkage.
Exercise: 1 (contd.)
Exercise: 2
Determine the degrees of freedom of a eight bar linkage.
Exercise: 2 (contd.)
Exercise: 3
Exercise: 4
Exercise: 1 - 4
Preceeding exercises should helps us
in:
setting up a number of links with an
appropriate number of elementary
pairs, lower or higher to obtain a
desired motion of a new machine or
analyze an existing machine.
Exercise: 5
Determine the d.o.f or mobility of the
planar mechanism illustrated below
The link numbers and the joint types for the mechanism
are illustrated above. The number of links is n = 5, the
number of lower pairs is j1 = 5, and the number of
higher pairs is h or j2 = 1. Substituting these values into
the Kutzbach criterion, the mobility of the mechanism is
M = 3 (5 1) 2 x 5 1 = 1
that is, a single input motion is required to gives
unique output motion.
Exercise: 6
Determine the d.o.f or mobility of the
planar mechanism illustrated below
Exercise: 6 (contd.)
The number of links
is n = 5, the number
of lower pairs is j1 =
5, and the number
of higher pairs is h
or j2 = 1.
Substituting these
values into the
Kutzbach criterion,
the mobility of the
mechanism is
M = 3 (5 1) 2 x 5 1 = 1
Exercise: 7
Exercise: 7 (contd.)
Half Joint
M = 3 (8 1) 2 x 9 1 =
Exercise: 8
Half Joint
Half Joint
L= number of links = 6
J1= number of full joints = 5 &
J2= number of half joints = 2 DOF = 3
Exercise: 9
L= number of links = 6
J1= number of full joints = 6 &
J2= number of half joints = 1 DOF = 2
Exercise: 10
L= number of links = 5
J1= number of full joints = 5 &
J2= number of half joints = 1 DOF = 1
Exercise: 11
7
J1= number of full
joints = 8 J2=
number of half
6
Slider Joint joints = 0 DOF =
2
4
1
7
1
Exercise: 12
Multiple Joint
Multiple Joint
L= number of links = 13
J1= number of full joints = 14
J2= number of half joints = 0 DOF = 2
1 = 3 (l 1) 2 j
or 3l 2j 4 = 0
This equation is known as the Grubler's criterion
for plane mechanisms with constrained motion.
The simplest possible mechanisms of this type
are a four bar mechanism and a slider-crank
mechanism in which l= 4 and j= 4.
resemblance
to
capital letter E) is an
example
three
in
which
binary
If
links
link
do
constrain
mechanism
not
the
any
more
Another Example
Link Classification
Ground or fixed Link: fixed w.r.t. reference
frame
Input [Driving] Link : Link where by motion
and force are imparted to a mechanism
Output [Driven] Link : Link from which
required motion and forces are obtained
Link Classification
Link Classification
(contd.)
to
ground,
makes
Folding sofa
Backhoe Excavator
Kinematic Inversion
is
called
Kinematic
their
absolute
motions
(those
Mechanism Classification
Crank-rocker
mechanism
(aka
Crank-lever
mechanism): In a four bar linkage, if the shortest link
is configured adjacent to the frame, If this shortest link
is continuously rotated, the output link will oscillate
between limits.
Crank-rocker mechanism
Mechanism Classification
(contd.)
Double-crank mechanism: If a four bar linkage
has the shortest link of the four-bar mechanism
configured as the frame. If one of the pivoted links
is rotated continuously, the other pivoted link will
also rotate continuously.
Mechanism Classification
(contd.)
http://www.technologystudent.com/cams/cr
ank1.htm
Linkage transformation
Linkage transformation
(contd.)
Animation
The four links crank (in
green), coupler
(in red), slider
(in blue), and
track (in black)
- are
successively
fixed (shown
with an anchor)
in each of the
inversion.
Animation
The four links crank (in
green), coupler
(in red), slider
(in blue), and
track (in black)
- are
successively
fixed (shown
with an anchor)
in each of the
inversion.
Inversion # 1
Inversion #1, with link 1 as
ground and its slider block
in pure translation, is the
most commonly seen and
is used for producing
rotary motion of the
wheels, crank etc.
Inversion # 2
Inversion #2 is
obtained by grounding
link 2 and gives the
Whitworth or crankshaper quick-return
mechanism, in which
the slider block has
Inversion # 3
Inversion #3 is
obtained by grounding
link 3 and gives the
slider block pure
rotation.
Inversion # 4
2
Inversion #4 is obtained
by grounding the slider
link 4 and is used in
hand
operated,
well
3
1
pump mechanisms, in
which the handle is link
2 (extended) and link 1
passes down the well
pipe to mount a piston
on
its
upside
figure.)
bottom.
down
(It
in
is
the
Grashofs Law
The Grashof Condition is a
relationship that predicts the rotation
behavior of the inversions of a
fourbar linkage based only on the
lengths of the links:
and
the
inversion
chosen.
The
For S+L<P+Q
Crank-rocker if either link adjacent to shortest is grounded
Double crank if shortest link is grounded
Double rocker if link opposite to shortest is grounded
If we pay attention !!
There are as many inversions as links,
only 3 distinct inversions, 2 crankrockers, 1 double-crank, and 1 doublerocker as shown in earlier slide.
Example: 1
Determine whether the four-bar linkage illustrated
below is a crank-rocker four-bar linkage, a doublerocker four-bar linkage or double-crank four-bar
linkage.
Example: 1 (contd.)
Substituting the link lengths into Grashofs Eq:
gives
3 in 6 in 4 in 5 in
9 in 9 in
Exercise: 1
(a) crank-rocker
(b) double-rocker
(a) double-crank
Exercise: 2
You are given a set of three links with
lengths 2.4 in, 7.2 in, and 3.4 in.
Determine the range of the length of
the fixed link such that it is a crankrocker mechanism.
Exercise: 2 (sol)
You are given a set of three links with
lengths 2.4 in, 7.2 in, and 3.4 in.
Determine the range of the length of
the fixed link such that it is a crankrocker mechanism.
6.2 in r 8.2 in
Exercise: 3
Determine which (if either) of the following
linkages can be driven by a constantvelocity motor. For the linkage(s) that can
be driven by the motor, indicate the driver
link.