MACHINE MECHANISMS 2

Degree of Freedom, Kinematic Pair,

Grublers Criterion

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.

http://www.flying-pig.co.uk/mechanisms/pages/crank.html


A rocker:

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(L -1) -2J
1
-J
2

M=3(8-1) -2(10) -0 =1
L=8
J
1
= 10
J
2
= 0
Examples of Finding DOF (M) in Planar Mechanism
Kutzbacks equation:

M=3(L -1) -2J
1
-J
2

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.

http://www.flying-pig.co.uk/mechanisms/pages/geneva.html


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.

http://www.flying-pig.co.uk/mechanisms/pages/ratchet.html

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