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?

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 Definitions

All of the above contain linkages which consist of:

• Links
• Joints

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 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.

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 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

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 Links

- Are assumed to be rigid bodies

- Have nodes for attachment
- Can be any shape (not just those shown)
-Link order = number of nodes

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 JOINTS

Joints A joint is a connection between

two or more links at their nodes,
allow which allows
DOF motion to occur between the
between links.
A pivot is a joint that allows
links rotary motion,
A slider is a joint that allows
linear motion.

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 JOINTS

Joints
allow
DOF
between
links

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2.5: Determining DOF or Mobility

Joints Reduce
System DOF

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2.5: Determining DOF or Mobility

Joints Reduce
System DOF

Union College MER 312: Dynamics and Kinematics

Mechanical Engineering (of Mechanisms) / AT
 Kinematics Diagrams

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 Determining Mobility or DOF
Gruebler & Kutzbach Equations

Gruebler’s
Equation is the
most commonly
used equation
for evaluating
simple
linkages.

Kutzbach’s equation
is modified
Gruebler’s Equation
that takes into
consideration full (1
DOF) and half (2
DOF) joints.

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Determining Mobility or DOF
Grubler & Kutzbach Equations

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

Gruebler’s 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

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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)

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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 Kutzbach’s 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 Gruebler’s equation)
– Second order pin joint, 3 links joined, 2-DOF
• A multiple-joint (J = 2 in Gruebler’s equation)
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 Kinematics Diagrams

Union College MER 312: Dynamics and Kinematics

Mechanical Engineering (of Mechanisms) / AT
Applying Mobility Equations - 1

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

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Applying Mobility Equations - 2

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

Union College MER 312: Dynamics and Kinematics
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