Prof.

Albert Espinoza
Mechanical Engineering Department
Polytechnic University of Puerto Rico
Spring 2015

Mobility (Degree of Freedom)

Degree of freedom (DOF) of a system can be defined as:
The number of inputs which need to be provided in order to create a
predictable output;
The number of independent coordinates required to define its position
Kutzbachs (modified Grueblers) Equation

= 3 1 21 2
L= number of links
J1=number of full joints (e.g., pins, sliders)
J2=number of half-joints (e.g., roll-slide, cams, gears)
Mobility determines the character of the links assemblage

Mobility (Degree of Freedom)

Example

M 3 L 1 2J1 J 2
Num. Links = 4

L4
Num. full joint, (1 DOF) = 3 pins , 1 slide

J1 4
Num. half joint, (2 DOF) = 0

J2 0
M 3 4 1 2 4 0
M 1

Mobility (Degree of Freedom)

M 3 L 1 2J1 J 2

Example

Num. Links = 8

L8
Multi-Nodes

Num. full joint, (1 DOF)

= 7 (single pins)+ 2 (multiple joint) +1
(slide)

J1 10
Num. half joint, (2 DOF) = 0

J2 0
M 3 8 1 2 10 0
M 1

Mobility (Degree of Freedom)

Example

M 3 L 1 2J1 J 2
Num. Links = 6

L6
Num. full joint, (1 DOF)
= 5 (single pins)+ 2 (multiple joint)

J1 7
Num. half joint, (2 DOF) = 1

J2 1
M 3 6 1 2 7 1
M 0

Mobility (Degree of Freedom)

Example

M 3 L 1 2J1 J 2
Num. Links = 9
L= 9
Num. full joint, (1 DOF)
= 7(single pins)+ 2 (Multiple
Joint) +2(slider)

J1 = 11
Num. half joint, (2 DOF) = 0

J2 = 0
M = 3(9-1) - 2(11)
M=2

Mobility (Degree of Freedom)

Example

M 3 L 1 2J1 J 2
Num. Links = 9
L=9
Num. full joint, (1 DOF) = 9 pins , 2 slide

J1= 11
Num. half joint, (2 DOF) = 1

J2 = 1

M = 3(9-1) - 2(11) - 1

M=1

Mobility (Degree of Freedom)

Example

M 3 L 1 2J1 J 2
Num. Links = 3
L=3
Num. full joint, (1 DOF) = 2 pins

J1= 2
Num. half joint, (2 DOF) = 1

J2 = 1

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

M=1

Mechanisms vs. Structures

Mechanism: M>0

Paradoxes
Kutzbachs (or Grueblers) may lead to wrong answers (does not consider the
geometry of the linkage).

Specific cases due to unique geometric considerations, a complete motion

analysis is needed instead

11

Linkage Transformation
Rules

1.

Pin joints can be replaced by sliders with no change in DOF (provided we keep at
least 2 pins).

2.

A full joint can be replaced by a half-joint an increasing the DOF by 1.

3.

Removal of a link reduces DOF by 1.

4.

Combination of (2) and (3) keeps same DOF.

5.

Any higher-order link (e.g., ternary) can be partially shrunk by coalescing

nodes in a multiple joint (with no change in DOF).

6.

Complete shrinkage of higher-order link is equivalent to removing it.

creates a multiple joint and reduces the DOF.

Transforms basic links into other mechanisms

This

Linkage Transformation Examples

Slider-crank from Crank-Rocker (Rule #1)

Behave as crank-rocker with infinite link 4

Linkage Transformation Examples

Scotch Yoke from Slider-Crank (Rule #4)
Substitution of link by half-joint (2 DOF)

Provides exact simple harmonic motion

Inversion
Mechanism modifications

Created by grounding a different link in the kinematic chain

16

The Four-Bar Linkage

The most fundamental linkage is the 4-bar
It consists of 3 moving links and 1 fixed
link
The Links are:
Ground/Base link (fixed)

Input Link (driver mover and

connected to ground)
Output Link (driven mover and
connected to ground)
Coupler or Floating Link (moving
and connects driver to driven link)

Grashof Condition
Grashof Linkage if

+ +
S = length of shortest link
L = length of longest link

P = length of one remaining link

Coupler

Q = length of other remaining link

Follower

Driver
Frame

Predicts rotation behavior of four-bar linkages

Grashof Condition
Class I: + < +
Grounding either link adjacent
to S yields a crank-rocker (1
and 2)
Grounding S yields a doublecrank (3)
Grounding the link opposite S
yields a Grashof-double
rocker

Crank and/or rocking motion depending on grounded link

Grashof Condition
Class II: + > +

All inversions are triple rockers

(no link can fully rotate)

Non-Grashof, triple rockers

Grashof Condition
Class III: + = +

All are either doublecranks or crankrockers, but will have

change points

Special-case Grashof, will have change points

Barkers Classification
Barkers Classification

Further detailed classification for four-bar mechanism motion

Grashof Condition and Barkers Classification

Examples
Determine the Grashof Condition and Barkers Classification
(a)

(b)

(c)

Grashof Condition and Barkers Classification

Examples
Determine the Grashof Condition and Barkers Classification
(d) Oil Field Pump

Grashof Condition and Barkers Classification

Examples
Determine the Grashof Condition and Barkers Classification (Motion)
(e) Aircraft Overhead Bin Mechanism