links 1,2 and 3 links L=3 Joints Revolute Pairs 0 Revolute Pairs Prismatic Pairs: 3 Prismatic Pairs J=3 Higher Pairs Mobility Mem=3(L-1)—2(J- Jr) —h— Fr M=3(L-l) -23 k M =3(3-1) -2(3)=0 True for the Revolute Pairs But not for i Prismatic OS Mett= 3(L-1) — 2(J- Jr) — h — Fr+ Pi number of three-link closed loops having three Prismatic Pairs in different directionMemr= 3(L-1) - 2(J- Jr) —h — Fr+ Pi This formula may have some exceptions for very special kinematic dimensions Example Jinks 1,2,3 and 4 links L=4 Joints Revolute Pairs 4 Revolute Pairs Mei= 3(L-1) — 25 =3(4-1)-2*4=1 Link length of Jisls = & Link length of l2= la There is a relative motion between input link 2 and output link 4 a parallelogram remains parallelogram ? ZU ETI Machinery ——— Dr. Taha TabaraIf we add an extra coupler which isp 0 the original coupler — ZU Machinery Dr Taha Tabaralinks 1,2,3,4 and 5 links L=5 Joints Revolute Pairs 6 Reyolute Pairs Metr= 3(L-1) — 2J =3(5-1)-2 *6=0 The formula said that this is a structure , but the extra coupler cannot constrained the mechanism and the mechanism still moving as parallelogram as before This failure of the formula is only because the two couplers 13 & ls are parallel and the original diagram is parallelogram TT Machinery meee Dr Taha TabaraIf we inclined the extra couplers ls for any degree the formula will be correct and the mechanism will become a J, Structure DOF = 0 In fact the extra coupler will be used to drive a parallelogram mechanism + When the parallelogram will be moves all linkages become collinear “+ Then the mechanism losses transmition quality * So the extra coupler is necessary to maintain parallelism kas Overclosed linkages TT Machinery meee Dr Taha TabaraOverclosed linkages For very special kinematic dimensions the formula calculating the DOF fails according to the formula such linkages are called Overclosed linkages Example <<< ZI;Kinematic diagram of 10links Total number of links a Mobility : L=10 Joints Joa = Ji + 2(J2) The number of simple hinges J=6+2(4)=14 J1=6 M=3(L-1)-25 The number of 1 M=3 (10-1) 2(14) oad order =27-28=-1 inges h=4 M=-1 O » —| joe x From resulting of DOF it’s a preloaded structure with DOF = - 1Why? Oy; If we look at this figure we see that 8 O2ACD isa parallelogram O.BCG isa parallelogram QuECF isa parallelogram Further that links 3,6 and 9 are all ternary links all these ternary 0 links are similar O2 — ’ . That mains overclosed Nokes Zui:TT Machinery serene Dro Taha TabaraTT Machinery serene Dro Taha TabaraTT Machinery serene Dro Taha TabaraTT Machinery serene Dro Taha TabaraTT Machinery serene Dro Taha TabaraOs TT Machinery meee Dr Taha TabaraTT Machinery serene Dro Taha TabaraTT Machinery serene Dro Taha TabaraTT Machinery serene Dro Taha TabaraTT Machinery serene Dro Taha TabaraTT Machinery serene Dro Taha TabaraTT Machinery serene Dro Taha TabaraTT Machinery serene Dro Taha TabaraTT Machinery serene Dro Taha TabaraTT Machinery serene Dro Taha TabaraTT Machinery serene Dro Taha TabaraTT Machinery serene Dro Taha TabaraTT Machinery serene Dro Taha TabaraTT Machinery serene Dro Taha TabaraTT Machinery serene Dro Taha TabaraTT Machinery serene Dro Taha TabaraTT Machinery serene Dro Taha Tabara