Kinematics Fundamentals

Definitions, Degrees of Freedom

MECH 362: Kinematics Fundamentals 1/Ghotbi

Definitions

„ Degree of Freedom
(DOF) a.k.a Mobility:
Number of independent
inputs required to
specify the positions of
all elements in a
mechanism at any
given instant in time.
„ Body in plane has 3-
DOF (x, y, θ).

MECH 362: Kinematics Fundamentals 2/Ghotbi

Types of motion

„ A rigid body in plane can undergo

‰ Pure rotation (R) – crank (2)
‰ Pure translation (T) – slider (4)
‰ Complex motion (R+T) – connecting rod (3)

MECH 362: Kinematics Fundamentals 3/Ghotbi

Actual Mechanism vs Skeleton Diagram

„ Actual Mechanism „ Skeleton Diagram

MECH 362: Kinematics Fundamentals 4/Ghotbi

Link

„ Link: A rigid body which possesses at least 2

nodes which are points of attachment to other
links.

MECH 362: Kinematics Fundamentals 5/Ghotbi

Kinematic joint

„ Connection between 2 or more links, at their nodes,

which allows relative motion between the links.
„ Joints can be classified by
‰ Type of contact (point, line or surface) between the
elements
„ Lower pair – surface contact (pin in hole)
„ Higher pair – point or line contact (ball rolling on surface)
‰ Type of closure (force or form closure)
‰ DOF allowed at the joint
‰ Number of links joined (joint order)

MECH 362: Kinematics Fundamentals 6/Ghotbi

Force versus Form closure

„ Form closure: The joint

is kept together (or
closed) by its geometry.
Preferred in linkages.

„ Force closure: The joint

needs an external force
to keep it together.
Preferred in cam
follower systems.

MECH 362: Kinematics Fundamentals 7/Ghotbi

Various types of joints

„ Revolute, Prismatic,
Helical, Cylindric,
Spheric and planar
joints are lower pairs.
„ Helical pair: Rotation
and translation are
related.
„ Roll joint is a higher
pair and force closed.

MECH 362: Kinematics Fundamentals 8/Ghotbi

Half/full joints

„ Full joint
‰ 1-DOF joint
‰ Revolute or prismatic

„ Half joint
‰ 2-DOF joint
‰ pin in a slot, link against
plane

MECH 362: Kinematics Fundamentals 9/Ghotbi

Joint Order

„ Order = number of links joined minus 1

„ Multiple joint: Joint with an order ≥ 2.

MECH 362: Kinematics Fundamentals 10/Ghotbi

More joints

„ Geared joint is a 2-DOF

joint because both
rolling and sliding takes
place on mating gear
teeth.
„ Higher pair – line
contact

MECH 362: Kinematics Fundamentals 11/Ghotbi

Finding DOF of a Mechanical System

„ 2 bodies –
unconnected: 6 DOF
„ 2 bodies connected by
1 revolute joint: 4 DOF
„ 4 unconnected bodies
with 1 body grounded:
9 DOF
„ 4 bodies, 1 link
grounded with 4
revolute joints: 1 DOF

MECH 362: Kinematics Fundamentals 12/Ghotbi

Gruebler’s criteria for DOF

„ n links, DOF =3 n
„ n links with 1 link grounded, DOF = 3 n – 3
„ n links with 1 link fixed, f1 1-DOF joints and f 2 2-
DOF joints, DOF are given as
DOF = 3(n − 1) − 2 f1 − f 2

„ A 1-DOF joint removes 2-DOF, a 2-DOF joint

removes 1-DOF and a 3-DOF joint removes 0-DOF.

MECH 362: Kinematics Fundamentals 13/Ghotbi

DOF Examples

„ n=4, f1=4, f2=0, DOF=1 „ n=4, f1=4, f2=0, DOF=1

3
4
2

„ n=6, f1=7, f2=0, DOF=1 „ n=5, f1=6, f2=0, DOF=0

4
3
2 5
2
1 5 4
3

6 1

MECH 362: Kinematics Fundamentals 14/Ghotbi

More DOF examples

„ n=8, f1=10, f2=0,

DOF=1
„ 2 revolute joints where
links 3, 4, 5 meet.

„ n=6, f1=7, f2=1, DOF=0

„ 2 revolute joints where
links 4, 5, 6 meet
„ Joint between link 3
and ground allows
rotation and sliding

MECH 362: Kinematics Fundamentals 15/Ghotbi

More examples

„ n=5, f1=5, f2=1, DOF=1 „ n=4, f1=4, f2=0, DOF=1

1 2

MECH 362: Kinematics Fundamentals 16/Ghotbi

More devices

„ n=3, f1=2, f2=1, DOF=4 „ n=4, f1=4, f2=0, DOF=1

2 4

MECH 362: Kinematics Fundamentals 17/Ghotbi

Equivalent Linkages

„ Alternate mechanism representations with

differing numbers of links/joints but same
number of DOF. 1

2
3

„ n=2, f2=1, DOF=2 n=3, f1=2, DOF=2

MECH 362: Kinematics Fundamentals 18/Ghotbi

Equivalent linkage for Springs

„ Springs apply forces, leave DOF unchanged

„ n=2, f1=0, F=3 n=4, f1=3, F=3

2 2
4

Spring 3

1
1

MECH 362: Kinematics Fundamentals 19/Ghotbi

Equivalent linkage for belt and pulley

„ Belt and pulley can be replaced by a

combination of 2 binary and one ternary link

MECH 362: Kinematics Fundamentals 20/Ghotbi