Degree of Freedom

No. of independent coordinates needed to define position of body

How many DOF does a body in three-space (3-D) have?

Union College
Mechanical Engineering

MER 312: Dynamics and Kinematics

(of Mechanisms) / AT

Definitions

All of the above contain linkages which consist of:

Links
Joints

Union College
Mechanical Engineering

MER 312: Dynamics and Kinematics

(of Mechanisms) / AT

Links
A link is a nominally rigid body that
possess at least 2 nodes.
A node is an attachment point to other
links via joints.

Union College
Mechanical Engineering

MER 312: Dynamics and Kinematics

(of Mechanisms) / AT

Links
- The order of a link indicates the number of
joints to which the link is connected (or the
number of nodes per link).
There are binary (2 nodes), ternary (3 nodes),
and quaternary (4 nodes) links.
- Can be any shape (not just those shown)
-Link order = number of nodes

Union College
Mechanical Engineering

MER 312: Dynamics and Kinematics

(of Mechanisms) / AT

Links
- Are assumed to be rigid bodies
- Have nodes for attachment
- Can be any shape (not just those shown)
-Link order = number of nodes

Union College
Mechanical Engineering

MER 312: Dynamics and Kinematics

(of Mechanisms) / AT

JOINTS

Joints
allow
DOF
between
links

Union College
Mechanical Engineering

A joint is a connection between

two or more links at their nodes,
which allows
motion to occur between the
links.
A pivot is a joint that allows
rotary motion,
A slider is a joint that allows
linear motion.
MER 312: Dynamics and Kinematics
(of Mechanisms) / AT

JOINTS

Joints
allow
DOF
between
links

Union College
Mechanical Engineering

MER 312: Dynamics and Kinematics

(of Mechanisms) / AT

2.5: Determining DOF or Mobility

Joints Reduce
System DOF

Union College
Mechanical Engineering

MER 312: Dynamics and Kinematics

(of Mechanisms) / AT

2.5: Determining DOF or Mobility

Joints Reduce
System DOF

Union College
Mechanical Engineering

MER 312: Dynamics and Kinematics

(of Mechanisms) / AT

Kinematics Diagrams

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MER 312: Dynamics and Kinematics

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Determining Mobility or DOF

Gruebler & Kutzbach Equations

Grueblers
Equation is the
most commonly
used equation
for evaluating
simple
linkages.

Kutzbachs equation
is modified
Grueblers Equation
that takes into
consideration full (1
DOF) and half (2
DOF) joints.

Union College
Mechanical Engineering

MER 312: Dynamics and Kinematics

(of Mechanisms) / AT

Determining Mobility or DOF

Grubler & Kutzbach Equations

Lower pairs (first order joints) or full-joints (counts as J = 1 in

Grueblers Equation) have one degree of freedom (only one motion can
occur):
- Revolute (R): Also called a pin joint or a pivot, take care to ensure that the
axle member is firmly anchored in one link, and bearing clearance is present
in the other link , washers make great thrust bearings, snap rings keep it all
together
A rolling contact joint also counts as a one-degree-of-freedom revolute
joint
- Prismatic (P): Also called a slider or sliding joint, beware Saint-Venant!
- Helical (H): Also called a screw, beware of thread strength, friction and
efficiency

Union College
Mechanical Engineering

MER 312: Dynamics and Kinematics

(of Mechanisms) / AT

Determining Mobility or DOF

Gruebler & Kutzbach Equations

Joints: Multiple Degree-of-Freedom

Lower Pair joints with multiple degrees of freedom:
Cylindrical (C) 2 DOF
A multiple-joint (J = 2)
Spherical (S) 3 DOF
A multiple-joint not used in planar mechanisms (J = 3)
Planar (F) 3 DOF
A multiple-joint (J = 3)
Union College
Mechanical Engineering

MER 312: Dynamics and Kinematics

(of Mechanisms) / AT

Determining Mobility or DOF

Gruebler & Kutzbach Equations

Joints: Higher Pair Multiple Degree-of-Freedom

Higher Pair joints with multiple degrees of freedom:
Link against a plane and a force is required to keep the joint closed
(force closed)
A half-joint (J 2 = 1 in Kutzbachs equation)
The link may also be pressed against a rotating cam to create
oscillating motion
Pin-in-slot
Geometry keeps the joint closed (form closed) (Slide and pin)
A multiple-joint (J = 2 in Grueblers equation)
Second order pin joint, 3 links joined, 2-DOF
A multiple-joint (J = 2 in Grueblers equation)
Union College
Mechanical Engineering

MER 312: Dynamics and Kinematics

(of Mechanisms) / AT

Kinematics Diagrams

Union College
Mechanical Engineering

MER 312: Dynamics and Kinematics

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Applying Mobility Equations - 1

M = 3 (L-1) 2(J1) J2 = 3(8-1) 2(10) 0 = 1

Union College
Mechanical Engineering

MER 312: Dynamics and Kinematics

(of Mechanisms) / AT

Applying Mobility Equations - 2

M = 3 (L-1) 2(J1) J2 = 3(6-1) 2(7) 1 = 0

Union College
Mechanical Engineering

MER 312: Dynamics and Kinematics

(of Mechanisms) / AT