KINEMATICS OF MACHINES

COURSE CODE: ME132P

KINEMATIC DIAGRAM,DEGREE OF FREEDOM (DOF)
LECTURE 2 / PLATE NO. 2

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Lecture no. 2: KINEMATIC DIAGRAMS AND DEGREE OF FREEDOM

Kinematic Diagram:

- Skeleton of mechanisms, it is the striped-down or simplified drawing of a mechanism showing the essentials and
the links necessary for kinematic analysis (path of movement, displacement, velocity, and acceleration). These
diagrams are drawn normally into convenient scale.
Examples:

Equivalent Kinematic Diagram

Mechanism to open and close a
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window panel
Lecture no. 2: KINEMATIC DIAGRAMS AND DEGREE OF FREEDOM

Kinematic Diagram:
Examples:

Mechanical Press
Equivalent Kinematic Diagram
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Lecture no. 2: KINEMATIC DIAGRAMS AND DEGREE OF FREEDOM

Kinematic Diagram:
Examples:

Actuator
Equivalent Kinematic Diagram

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Lecture no. 2: KINEMATIC DIAGRAMS AND DEGREE OF FREEDOM

Kinematic Diagram:
Examples:

Artesian pump Equivalent Kinematic Diagram

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Lecture no. 2: KINEMATIC DIAGRAMS AND DEGREE OF FREEDOM

Kinematic Diagram:
Examples:

Back hoe
Equivalent Kinematic Diagram

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Lecture no. 2: KINEMATIC DIAGRAMS AND DEGREE OF FREEDOM

Definition of Terms:
• Link – individual rigid body that forms a mechanism. It consists of nodes or points of attachments to form joints.
Links have relative motion between each other, within a mechanism.

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Lecture no. 2: KINEMATIC DIAGRAMS AND DEGREE OF FREEDOM

Definition of Terms:
• Joint – a connection between two or more links at their nodes which allows relative motion to occur between the
links.
• Pivot - joint that allows rotary motion.
• Slider – a joint that allows linear motion.

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Lecture no. 2: KINEMATIC DIAGRAMS AND DEGREE OF FREEDOM

Definition of Terms:
• Joints (examples - cont.)

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Lecture no. 2: KINEMATIC DIAGRAMS AND DEGREE OF FREEDOM

Definition of Terms:
• Joints (examples - cont.)

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Lecture no. 2: KINEMATIC DIAGRAMS AND DEGREE OF FREEDOM

Definition of Terms:
• Joints (examples - cont.)

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Lecture no. 2: KINEMATIC DIAGRAMS AND DEGREE OF FREEDOM

Definition of Terms:
• Joints (examples - cont.)

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 Lecture no. 2: KINEMATIC DIAGRAMS AND DEGREE OF FREEDOM

How are joints drawn in the kinematic t

diagram?

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 Lecture no. 2: KINEMATIC DIAGRAMS AND DEGREE OF FREEDOM

How are joints drawn in the kinematic

diagram?

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 Lecture no. 2: KINEMATIC DIAGRAMS AND DEGREE OF FREEDOM

How are joints drawn in the kinematic

diagram?

Indicating a fixed angle

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 Lecture no. 2: KINEMATIC DIAGRAMS AND DEGREE OF FREEDOM
KINEMATIC DIAGRAM:
- A kinematic diagram should be drawn to a scale proportional to the actual mechanism. For
convenient reference, the links may be numbered or lettered starting with the frame or fixed link,
which serves as the frame of reference for the motion of all other parts.

Drawing or space scale:

On paper: On part being drawn

Ex. 1:1 = same sizes/dimensions as

in original parts
1:2 = reducing scale
2:1 = enlarging scale; and,
Ex. 1 inch: 1 cm = enlarging scale

Space scale or drawing scale (Ks): 1: 1

Space scale or drawing scale (Ks): 1: 2 16

Lecture no. 2: KINEMATIC DIAGRAMS AND DEGREE OF FREEDOM

DEGREE OF FREEDOM (DOF):

• It is the number of independent movement the body has.
• Also called MOBILITY.
• The number of different ways in which a body can move.

A rigid body has 6 DOF in space; 3 DOF rotational about x, y

and z axes, and 3 DOF translational along x, y and z axes.
Due to formation of linkage, one or more DOF is lost due to the
presence of constraint on the body. The total number
constraints cannot be zero as the body has to be fixed at some
place to make the linkage possible. Thus, the degree of
freedom is given by:
DOF= 6- (Numbers of Restraints)

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Lecture no. 2: KINEMATIC DIAGRAMS AND DEGREE OF FREEDOM

DEGREE OF FREEDOM (DOF):

• Pairs or contacts , with varying degrees of freedom (arrows showing possible movement):

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 Lecture no. 2: KINEMATIC DIAGRAMS AND DEGREE OF FREEDOM

Item in Geometrical Shapes Restraints on

Degree of Total
Explanation for DOF DEGREE OF FREEDOM (DOF):
freedom restraints
Figure involved
Translation Rotary motion

(a) Rigid 0 0 0 6 (0) As there is no motion hence DOF is zero

(b) Prismatic 2 3 1 5 (1) As movement is possible only in Z direction.

(c) Revolute 3 2 1 5 (1) As it can revolve around Y axis

(2) As one element can move in Z axis & also revolve

(d) Parallel cylinders 2 2 2 4
around Z axis

(2) As element inside can revolve around Z axis and

(e) Cylindrical 2 2 2 4
also move in Z axis

(f) Spherical 3 0 3 3 (3) As element can revolve around X,Y&Z axis

(3) As element can revolve around Y axis & can

(g) Planer 1 2 3 3
move in Z & X axis

(h) Edge slider 1 1 4 2

(4) As element can revolve around Z & Y axis & can • Pairs or contacts , with
move in Y axis
varying degrees of
(4) As element can revolve around Z & Y axis & can freedom (arrows showing
(i) Cylindrical slider 1 1 4 2
move in Z & X axis
possible movement)
(5) As an element can revolve around X,Y&Z axis &
(j) Point slider 1 0 5 1
can move in X & Z axis

(5) As element can revolve around X,Y & Z axis &

(k) Spherical slider 1 0 5 1
can move in X & Z axis

(5) As element can revolve around X,Y & Z axis &

(l) Crossed cylinder 1 0 5 1 19
can move in X & Z axis
Lecture no. 2: KINEMATIC DIAGRAMS AND DEGREE OF FREEDOM

DEGREE OF FREEDOM:

• Classification of Joints and the corresponding DOF

Six Possible Lower Pairs are: (note movement of the yellow part)

Cylindrical joint – Lower

pair

CAM joint– Higher pair 20

Lecture no. 2: KINEMATIC DIAGRAMS AND DEGREE OF FREEDOM

DEGREE OF FREEDOM:

Ball socket joint - 3 DOF

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Lecture no. 2: KINEMATIC DIAGRAMS AND DEGREE OF FREEDOM

DEGREE OF FREEDOM:

3.

First order joint

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Lecture no. 2: KINEMATIC DIAGRAMS AND DEGREE OF FREEDOM

DEGREES OF FREEDOM OF PLANAR MECHANSIMS:

Kinematic chain: A kinematic chain is an assembly of links which are interconnected through joints or
pairs, in which the relative motions between the links is possible and the motion of each link relative to
the other is definite. (movement is constrained and predictive on some links)

Most of the mechanisms we generally study are two dimensional in

nature, “Planar,” or the movement is with reference to a plane. There are
two translations of the mechanism on the plane and one rotation about
an axis perpendicular to the plane. This can be shown by a pencil moving
on a plane that has three degree of freedom in two dimensions.

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Lecture no. 2: KINEMATIC DIAGRAMS AND DEGREE OF FREEDOM

DEGREES OF FREEDOM OF PLANAR MECHANISMS:

CALCULATION OF NUMBER OF DEGREES OF FREEDOM:

Formula based on Kutzbach Criterion:

Ball socket
DOF = 3 (N-1) - 2J1 - J2 joint - 3
Where: DOF
DOF = degrees of freedom
N = total number of links in a mechanism
J1 = number of links having one degree of freedom (1 DOF – full joints),
(such as sliding joint and rotating pin joint)
J2 = number of links having two degrees of freedom or more (2 or more DOF- half joints, and 3DOF joints),
(such as cam joint and ball socket joint)
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 Lecture no. 2: KINEMATIC DIAGRAMS AND DEGREE OF FREEDOM

DEGREES OF FREEDOM OF PLANAR MECHANISMS:

Example 1: Determine the number of DOF of the mechanism using the Kutzback criterion.

DOF = 3 (N-1) - 2J1 - J2 J1 – revolute/rotating pin joint

J1 – sliding joint
Note: all joints per link should be
taken into account.

Number of links = 8 J1
J1 J1
Number of Pairs = 10
J1

J1 = 10, nine
J1
rotating/revolute pairs and
one sliding pair J1
J1
J2 = 0
J1
The degree of freedom is
one. J1
J1

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 Lecture no. 2: KINEMATIC DIAGRAMS AND DEGREE OF FREEDOM

DEGREES OF FREEDOM OF PLANAR MECHANISMS:

Example 1: Determine the number of DOF of the mechanism using the Kutzback criterion.

DOF = 3 (N-1) - 2J1 - J2 J1 – revolute/rotating pin joint

J1 – sliding joint
J1 Note: all joints per link should be
DOF = 3(6-1)- 2×7 -0 = 1 taken into account.

J1

Number of links = 6 J1

J1
Number of Pairs = 7

J1 = 7, six rotating pairs and

one sliding pair
J1
J2 = 0

DOF=3(6-1)-2×7-0 = 1

The degree of freedom is J1

one. J1

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 Lecture no. 2: KINEMATIC DIAGRAMS AND DEGREE OF FREEDOM

DEGREES OF FREEDOM OF PLANAR MECHANISMS:

Example 1: Determine the number of DOF of the mechanism using the Kutzback criterion.

DOF = 3 (N-1) - 2J1 - J2 J1 – revolute/rotating pin joint

J1 – sliding joint
J2 – Fork joint is a sliding pin
J2 joint = 2DOF
(2DOF) Note: all joints per link should be
J1
taken into account.

J1
J1 J1

Number of links = 7 J1

Number of Pairs = 8
J1
J1
J1 = 8, seven rotating pairs
and one sliding pair

J2 = 1 (Fork joint is two DOF

joint)

DOF=3(7-1)-2×8-1×1 = 1

The degree of freedom is

one.

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 Lecture no. 2: KINEMATIC DIAGRAMS AND DEGREE OF FREEDOM

DEGREES OF FREEDOM OF PLANAR MECHANISMS:

Example 1: Determine the number of DOF of the mechanism using the Kutzback criterion.

DOF = 3 (N-1) - 2J1 - J2

J1 – revolute/rotating pin joint

J1 – sliding joint
J1 – piston movement on
actuator is sliding
J2- cam joint
Note: all joints per link should be
taken into account.

CAM

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 Lecture no. 2: KINEMATIC DIAGRAMS AND DEGREE OF FREEDOM

HOMEWORK/PLATE 2:

PROBLEM: Determine the following for the adjustable platform below:

1. 2D diagram (may not be drawn to scale and missing dimensions in the figure can be proportionated based on appearance).
Label parts of the platform. What is the distance ‘X’ so as the link pin can travel
at the retracted position? X=?
2. Kinematic Diagram using a convenient scale on your available sheet of paper.
3. Label links with numbers or letters.
4. Using Kutzbach criterion, identify the number of J1
type links and description of each.
5. Identify the number of J2 type links and description.
6. Calculate the Degrees of Freedom (DOF) of the
mechanism.
60 degrees, at 400 mm, at
max table max table
height height

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Lecture no. 2: KINEMATIC DIAGRAMS AND DEGREE OF FREEDOM

PLATE 2/FORMAT:

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Kinematics of Machine / Lecture 2 and Plate 2

Thank you so much

to your attention!

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