1) A mechanical system's mobility is classified by its degrees of freedom (DOF), which is the number of independent parameters needed to define its position and movement.
2) DOF examples include a cricket ball having 6 DOF in air and 2 DOF when on the ground, and a pencil having 3 DOF in a plane and 6 DOF in 3D space.
3) Gruebler's criterion and Kutzback's equation relate the number of links (L), joints (J1 for 1-DOF, J2 for 2-DOF), and grounded links (G) to calculate a mechanism's degrees of freedom (M) in planar systems.
1) A mechanical system's mobility is classified by its degrees of freedom (DOF), which is the number of independent parameters needed to define its position and movement.
2) DOF examples include a cricket ball having 6 DOF in air and 2 DOF when on the ground, and a pencil having 3 DOF in a plane and 6 DOF in 3D space.
3) Gruebler's criterion and Kutzback's equation relate the number of links (L), joints (J1 for 1-DOF, J2 for 2-DOF), and grounded links (G) to calculate a mechanism's degrees of freedom (M) in planar systems.
1) A mechanical system's mobility is classified by its degrees of freedom (DOF), which is the number of independent parameters needed to define its position and movement.
2) DOF examples include a cricket ball having 6 DOF in air and 2 DOF when on the ground, and a pencil having 3 DOF in a plane and 6 DOF in 3D space.
3) Gruebler's criterion and Kutzback's equation relate the number of links (L), joints (J1 for 1-DOF, J2 for 2-DOF), and grounded links (G) to calculate a mechanism's degrees of freedom (M) in planar systems.
Definition A mechanical systems mobility (M) is classified according to the number of degrees of freedom (DOF) that it has.
The systems DOF is equal to the number of independent parameters necessary to uniquely define its position and movement in space at any given time.
It is defined relative to a selected frame of reference
DOF Example A cricket ball is defined by six degrees of freedom when it is in the air (x,y,z) and when it falls to the ground it uses only two planes (x and Y)
DOF Example
A system of the pencil in a plane has three degrees of freedom to define its position at any instant of time. Three parameters are required to define the position of the pencil.
DOF Example A system of the pencil in three dimensional space has six degrees of freedom.
One possible set of parameters
Three length (x, y, z) and three angles (, , )
Types of Plane Motion Pure translation motion
All points on the body move along parallel straight or curved lines (rectilinear or curvilinear)
Pure rotational motion
The body posses one point that has no motion, all other points on the body move along circular paths relative to this point.
General (complex) motion
A combination of translation and rotation
CONSTRAINED MOTION A system with only one degree of freedom such as a cylinder rolling on a smooth surface without slidding is a completely constrained motion. Its angle of rotation: = / where, r is radius of cylinder and x is linear displacement.
Links, Joints and Kinematics Chains A link is a body (rigid) with at least two nodes used for attachment to other links.
Links, Joints and Kinematics Chains A joint or pair is a connection between two or more links at their nods which allows some motion, or potential motion, between the connected links.
Joints are classified by the:
type of contact between the elements, line, point, or surface.
Lower pair Higher pair
number of DOF allowed at the joint.
type of physical closure of the joint: either force or form closed.
number of links joined (order of the joint). Lower Pair Joints Lower pair describes joints with surface contacts
Examples:, A door joint to a frame with hinges (revolute (R) pair) A sash window (prismatic (P) pair) (a pin surrounded by a hole)
If there is a clearance between a pin and a hole (to allow for motion), the so-called surface contact becomes line contact.
LOWER PAIR Lower Pair Screw Pair Cylindrical Pair Lower Pair Spherical Pair Planar Pair Higher Pair Joints Higher pair (describes joints with point or line contacts)
Examples:
Gear teeth, cam and follower, two curved surfaces
At a macroscopic level, a block sliding on a surface level, has contacts at discrete points, the top of the surface asperities or surface roughness
Advantage of Lower Pairs Joints
The lubricant traps between their enveloping surfaces.
Results in low wear and long life
Lower Pair Joints The revolute (R) and Prismatic (P) pairs are the only lower pair joint used in planer mechanisms. The screw (H), Cylindric (C), Spherical (S), and Flat (F) lower pairs are combinations of revolute/prismatic pairs and are used in 3D mechanisms. Examples of Planar Lower Pair Joints The pin joint allows one rotational degrees of freedom between the joint links. The slider joint allows one translational degrees of freedom between the joint links. Examples of Planar Lower Pair Joints The pin joint is a special case of screw and nut joint. If the helix angle is zero, the nut rotates without advancing. The slider joint is a special case of screw and nut joint. If the helix angle is 90 degrees, the nut translates along the axis of screw. The Six Lower Pairs Joints Name (Symbol) DOF Contains Revolute (R) 1 () R Translating (Prismatic) (P) 1(x) P Helical(H) 1() RP Cylindric (C) 2(), (x) RP Spherical (S) 3 (), (), () RRR Planar (F) 3(), (x), (y)
RPP The revolute (R) and prismatic (P) are also called full joints (i.e. full=1 DOF) Examples of Higher Pair (2-freedom) Joints Two-degrees of freedom joints (higher pairs) allows two simultaneous independent relative motions, translation and rotation, between the joined links. This 2 DOF joint is also referred to half joint ( with its 2 freedom placed in the denominator) or roll-slide joint. Example of Higher Pair (3-freedom) Joints Spherical, or ball-and socket joint, allows three independent angular motions between the two links joined. Examples include, joystick or ball joint in automobile suspension system. Higher Pair Joints Depending on friction the wheel, may roll (planar pure-roll), may slide (planer pure slide) or roll-slide. Higher Pair Joints A form-closed joint is kept together or closed by its geometry. (a pin in a hole or a slider in a two sided slide)
A force-closed joint requires some external force to keep it together. (a slider on a surface)
Joint Order
Note: it takes two links to make a single joint
Joint order = number of links joined -1 Definitions A kinematic chain:
An assemblage of links and joints, interconnected in a way to provide a controlled output motion in response to a supplied input motion
A mechanism:
A kinematic chain in which at least one link has been grounded, or attached to the frame of reference which may be in motion.
A machine:
A collection of mechanisms arranged to transmit forces and do work. (Reuleauxs definition)
A combination of resistant bodies arranged to compel the mechanical forces of nature to do work accompanied by determinate motions. Definitions A crank:
A link that makes a complete revolution and is pivoted to ground.
A link that has oscillatory (back and forth) rotation and is pivoted to ground.
A coupler or connecting rod:
A link that has complex motion and is not pivoted to ground.
Ground:
Any link or links that are fixed with respect to the reference frame.
Drawing Kinematic Diagrams A kinematic link, or link edge is a line between joints that allows relative motion between adjacent links.
Possible joint motion must be clear from the kinematic diagram.
The diagram must clearly indicate which joints or links are grounded and which can move. Schematic Notation For Kinematic Diagrams DOF or Mobility Degrees of Freedom Definition
The number of inputs that need to be provided in order to be able to create a predictable output for a system.
DOF or Mobility DOF definition:
The number of independent coordinates required to define the systems position. In this example, the position of both links can be described using only four parameters DOF = 4.
DOF or Mobility A system constrained by a revolute pair has one degrees of freedom DOF or Mobility A system constrained by a Prismatic pair has one degrees of freedom DOF or Mobility A system constrained by a higher pair has two degrees of freedom 1: Translating along the curved surface 2: Rotating about the instantaneous contact point Kinematic Chains or Mechanism Open An open mechanism of more than one link will always have more than one DOF. Requires as many actuators (motors) as DOF.
Example: Robot
Closed No open attachment points or nodes May have one or more DOF.
Kinematic Chains or Mechanism An open kinematic chain of two binary links and one joint is called dyad.
Effect of Joints on DOF (Mobility)
Joints remove DOF DOF (Mobility) in Planar Mechanism Gruebler condition:
Any link in a plane has 3 DOF.
A system of L unconnected links in the same plane has 3L DOF. DOF (M) in Planar Mechanism When connecting links are by a full joint, y 1
and y 2 are combined as y
and x 1 and x 2
are combined as x.
This reduces DOF by 2, resulting in 4 DOF.
DOF (M) in Planar Mechanism When connecting links by a half joint, y 1 and y 2 are combined as y.
This reduces DOF by 1, resulting in 5 DOF.
DOF (M) in Planar Mechanism Gruebler condition:
Any link in a plane has 3 DOF.
A system of L unconnected links in the same plane has 3L DOF.
When links are connected by a full joint, its DOF is reduced by two.
When system of links are connected by a half joint, its DOF is reduced by one.
When any link is grounded or attached to a reference frame, all three of its DOF will be removed. Grueblers equation: M=3L -2J-3G (2.1a) M= DOF or mobility L=number of links J= number of joints G= number of grounded links DOF (M) in Planar Mechanism In real mechanism, because there can be only one ground plane , even if more than one link of the kinematic chain is grounded, the net effect is to create one larger, higher order ground link.
Thus G is always equal to one. Grueblers equation: M=3L -2J-3G (2.1a)
M=3(L -1) -2J (2.1b)
Derivation:
Each of the L links have 3 DOF except for the fixed link which has none M=3L 3=3(L 1).
Each of the J single DOF pairs remove 2 DOF: M=3(L-1) 2J. DOF (M) in Planar Mechanism Since half joints only remove one DOF, the modified Grueblers equation, called Kutzbacks equation is easier to work with.
Kutzbacks equation:
M=3(L -1) -2J 1 -J 2 (2.1c)
M= DOF or mobility L=number of links J 1 = number of one DOF (full) joints J 2 = number of two DOF (half) joints Note: Multiple joints count as one less than the number of links joined at that joint. Examples of Finding DOF (M) in Planar Mechanism Kutzbacks equation:
M=3(6-1) -2(7) -1 =0 L=6 J 1 = 7 J 2 = 1 Mechanisms and Structures DOF of an assembly completely defines the character of an assembly of links.
Positive DOF assembly is a mechanism links will have relative motion
Zero DOF assembly is a structure no motion is possible
Negative DOF assembly is a preloaded structure no motion is possible and some stress may be present at the assembly time
Examples of Finding DOF (M) in Planar Mechanism Kutzbacks equation:
M=3(L -1) -2J 1 -J 2
M=3(3-1) -2(3) -0=0 Assume No slip @ B Assume Slipping @ B
L 3 3 J 1 3 2 J 2 0 1 M 0 1 Structure Mechanism Kutzbacks equation:
M=3(L -1) -2J 1 -J 2
M=3(3-1) -2(2) -1=1 Grublers Formula Summary Steps to calculate mobility:
Count number of elements/links: L Count number of single DOF pairs: J 1 Count number of two DOF pairs: J 2
M = 3(L 1) 2 J 1 J 2
Caution
Must count ground link since its effect is included in the formula the (L 1) term
Any joint at which k links meet must count as k1 joints.
Cases of slip and no-slip must be considered for rolling pairs. Grublers Formula Summary Grublers formula is a theoretical result formula does not take into account the geometry (size and shape) of the mechanism, therefore, it can give misleading results.
The actual mobility of a mechanism can only be calculated by inspection
Grublers formula is applicable to a wide variety of mechanisms commonly encountered in engineering applications. Number Synthesis Number synthesis means determine the number of links, and order of the links and joints necessary to produce motion of a particular DOF.
It answers the question of what are all possible link combinations to produce a motion with a specific DOF.
Note: Order refers to the number of nodes per link, i.e. binary, ternary, etc.
Number Synthesis Hypothesis:
If all joints are full joints, an odd number of DOF requires an even number of link and vice versa.
Proof: See lecture note Number Synthesis Paradoxes
A
B
L 5 5 J 1 6 6 J 2 0 0 M 0 0 Structure Mechanism A B Grublers equation:
M=3(L -1) -2J 1 -J 2 M=3(5-1) -2(6) =0 Paradoxes
C L 3 J 1 3 J 2 0 M 0 Structure C Grublers equation:
M=3(L -1) -2J 1 -J 2 M=3(3-1) -2(3) =0 This linkage allows relative angular motion between the wheels, DOF=1 Isomers Isomer means having equal parts In Chemistry:
Isomers Linkage isomers are obtained by connecting the links together using various joints.
Each assembly will have different motion properties. Isomers In links isomers:
Similar to hydrogen atoms that are equal in chemical atoms, all binary links are considered equal.
The overall DOF must be uniformly distributed throughout the linkage.
Isomers All valid isomers of the fourbar and sixbar linkages Isomers Valid isomers Invalid isomer Franks Molecule It is a condensed notation to find isomers of any collection of links with some links of higher order than binary.
Show each higher order link (grater than 2)
Place a number in each circle (the valence number) to describe the type (ternary, quaternary, etc.) of link.
Using straight lines, connect circles.
Number of lines must be equal to valance number.
Place a number on each line to represent the quantity of binary links in that connection.
Isomers Isomers Invalid isomer Isomers All possible binary link interconnections between the two ternary links Valid Isomers for Linkages With DOF=1 Linkage Transformation Rules 1. Revolute joints in any loop can be replaced by prismatic joint with no change in DOF of the mechanism, provided that at least two revolute joint remain in the loop. Transforming a fourbar crank-rocker to a slider-crank Linkage Transformation Rules 2. Any full joint can be replaced by a half joint, but this will increase DOF by one. 3. Removal of a link will reduce the DOF by one. 4. The combination of rules 2 and 3 will keep the original DOF unchanged. Transforming the slider crank to Scotch yoke (rule 4) Linkage Transformation Rules 2. Any full joint can be replaced by a half joint, but this will increase DOF by one. 3. Removal of a link will reduce the DOF by one. 4. The combination of rules 2 and 3 will keep the original DOF unchanged. Transforming the slider crank to Scotch yoke (rule 4) Linkage Transformation Rules 5. Any ternary or higher order link can be partially shrunk to a lower-order link by coalescing nodes without any change in the DOF. 6. Complete shrinkage of a higher-order link is equivalent to its removal and DOF will be reduced.
Intermittent Motion
It is a sequence of motions and dwells.
A dwell is a period in which the output link is stationary while the input link continues to move.
Intermittent Motion Geneva Mechanism A transformed fourbar linkage in which the coupler has been replaced by a half joint.
The input crank (link 2) is typically driven by a constant speed motor.
The Geneva wheel is fitted with at least three equispaced radial slots.
The crank pin enters a radial slot and causes the Geneva wheel to rotate through a portion of a revolution.
Intermittent Motion Ratchet and Pawl The arm pivots about the center of a toothed ratchet wheel and is moved back and forth to index the wheel. The locking pawl prevents the ratchet from reversing direction while the driving pawl returns.
Intermittent Motion Ratchet and Pawl Intermittent Motion Linear Geneva Mechanism Rotational motion of a crank is used to create a translational motion. Mechanism Inversion An inversion is created by grounding a different link in the kinematic chain.
No. of inversions are same as the number of links.
Fourbar Linkage The simplest possible pin-jointed mechanism for single DOF controlled motion
The most common device used in machinery
Simple, simplicity is one mark of a good design
Most versatile in terms of the types of motion it can generate
It is also known as slider-crank and cam-follower.
Grashof Condition A simple relationship that predict the rotation behavior of a fourbar linkages inversions based only on the link lengths. Let: S=length of shortest link L=length of longest link P=length of one remaining link Q=Length of other remaining link Then if: S+L P+Q The linkage is Grashof and at least one link will be capable of making a Full revolution with respect to the ground plane. Grashof Condition This is called a Class I kinematic chain. Let: S=length of shortest link L=length of longest link P=length of one remaining link Q=Length of other remaining link Then if: S+L P+Q The linkage is Grashof and at least one link will be capable of making a Full revolution with respect to the ground plane. Grashof Condition This is a Class II kinematic chain. Let: S=length of shortest link L=length of longest link P=length of one remaining link Q=Length of other remaining link S+L P+Q If the inequality is not true, the linkage is non-Grashof and no link will be capable of making a full revolution relative to any other link. Inversions of Grashof Fourbar Linkage