Source: Qu, H., Guo, S., and Zhang, Y.

, 2016, “A novel relative degree‐of‐
freedom criterion for a class of parallel manipulators with kinematic 
redundancy and its applications,” Proceedings of the Institution of 
Mechanical Engineers Part C Journal of Mechanical Engineering Science.

Introduction to Spatial Mechanisms
At the end of this video, you should be able to:
• Describe the mobility of spatial mechanism joint types
• Determine the number of degrees‐of‐freedom of a spatial 
mechanism
• Describe the motion of a spherical mechanism
Examples of Spatial Mechanisms
Hooke (Cardan) Joint Swashplate

Bone Cutter
Lower Pair Joint Types
Spatial Mechanism Naming Convention
Harrisberger’s “Most Useful” 1 DOF List
Mobility Defined by Kutzbach Criterion
 Kutzback Criterion Example

Source: Qu, H., Guo, S., and Zhang, Y., 2016, “A novel relative degree‐of‐
freedom criterion for a class of parallel manipulators with kinematic 
redundancy and its applications,” Proceedings of the Institution of 
Mechanical Engineers Part C Journal of Mechanical Engineering Science.
Planar and Spatial Correlations
Planar Theory Spherical Theory Spatial Theory

Gruebler’s Equation Kutzbach Criterion Kutzbach Criterion

Pole Rotation Axis Displacement Screw

Instant Center Instantaneous Rotation Instantaneous Screw

Screw

Image Pole Image Rotation Axis Image Screw

Pole Triangle Spherical Screw Screw Triangle

Triangle
Center Point Curve Fixed R-Axis Cone Fixed C-Axis Congruent

Circle Point Curve Moving R-Axis Cone Moving C-Axis

Congruent
Burmester Point Pairs 5 Position R-R Axes 5 Position C-C Axes

Euler-Savary Equation Spherical Euler-Savary Spatial Euler-Savary

Eqn Eqn
Spherical 4‐bar
Spherical 4‐bar
Spherical Mechanisms
α – central angle of crank
β – central angle of output
γ – central angle of coupler
ζ – central angle of ground
Spherical Coupler Curves

Source: Chu, J. and Sun, J., 2010, “Numerical Atlas of Path Generation of Spherical 
Four‐Bar Mechanism,” Mechanism and Machine Theory, v. 45, p. 867‐879.
Spherical Roth‐Burmester Curves
 Source: irobotkits.blogspot.com

Representing Spatial Mechanisms: 
Denavit‐Hartenberg Parameters
At the end of this video, you should be able to:
• Describe
DH Parameters
Conventions:
1. Number joints consecutively
– start at the input
2. Choose joint axis such that: xi
is perpendicular to zi-1 and zi
3. Origin xi, yi, zi is fixed in link
w/ joints i-1 and i
4. In closed chain, joint 1
references last joint, joint N
4 D-H Parameters:
ai,i+1: dist along xi+1 from zi to zi+1
αi,i+1: angle from zi to zi+1 (as seen from xi+1)
θi,i+1: angle from xi to xi+1 (as seen from zi)
si,i+1: dist along zi from xi to xi+1
DH Parameter  Source: irobotkits.blogspot.com

Example

ai,i+1: dist along xi+i from zi to zi+1

αi,i+1: angle from zi to zi+1 (as seen from xi+1)
θi,i+1: angle from xi to xi+1 (as seen from zi)
si,i+1: dist along zi from xi to xi+1

DH Parameter Table
Joint a s
0 a , , , ,
1 a , , , ,
2 a , , , ,
DH Parameters

ai,i+1: dist along xi+i from zi to zi+1

αi,i+1: angle from zi to zi+1 (as seen from xi+1)
θi,i+1: angle from xi to xi+1 (as seen from zi)
si,i+1: dist along zi from xi to xi+1
DH Parameters: Closed Chain
•Label the appropriate DH parameters
•Write the symbolic matrix transformation eqn
Spherical Four-Bar
1. Label the x-axes z2
2. Draw the appropriate DH parameters
3. Write the symbolic matrix R2
transformation equation
3 z1
z3 2
R3 x1

z4 R1

R4 4

1
 z2

R2

3 z1
z3  2
R3  x1 
x3
z4  α12
R1
α23
R4  4
α34

θ12
θ41

x2
1 x4 α41 
Hooke (Cardan) Joint Analysis
Hooke / Cardan Joint
Driveshaft Phasing