KOM Lect3

ME2012D Kinematics of Mechanisms
Lecture-3 Mobility
Date: 05.01.2022
Dr. Ashesh Saha

Assistant Professor
Email: ashesh@nitc.ac.in
Department of Mechanical Engineering
National Institute of Technology Calicut
Mobility (or Degrees of Freedom)
 Kutzbach criterion for the mobility m of a planar n-link mechanism:
• m = 3(n – 1) – 2 j – h,
• j denotes the number of simple R (or P) pairs (number of single-
degree-of-freedom pairs)
• h denotes the number of higher pairs (number of two-degree-of-
freedom pairs)
• If m > 0, the mechanism has m degrees of freedom
• If m = 1, the mechanism can be driven by a single input motion
• If m = 2, two separate input motions are necessary to produce constrained
motion
• If m = 0, the mechanism forms a structure
• If m = –1 or less, a statically indeterminate structure results
Lect 2: 04.01.2023
Mobility (or Degrees of Freedom)
 Kutzbach criterion for the mobility m of a planar n-link mechanism:
• m = 3(n – 1) – 2 j – h,
• j = j(1) + 2 j(2) + 3 j(3) + … +i j(i)
• j(i) → number of R pairs, each of which connects (i + 1) links
• j(1) → number of simple R pairs
• j(2) → equivalent to two R pairs
• j(i) → i number of simple R pairs
Application of Kutzbach mobility criterion
𝒏 = 𝟑, 𝒋 = 𝟑, 𝒏𝒏==𝟒,𝟒,𝒋𝒋==𝟒,𝟒,
𝒉 = 𝟎, 𝒎 = 𝟎 𝒉𝒉==𝟎,𝟎,𝒎𝒎==𝟏𝟏
𝒏 = 𝟒, 𝒋 = 𝟒, 𝒏 = 𝟓, 𝒋 = 𝟓,
𝒉 = 𝟎, 𝒎 = 𝟏 𝒉 = 𝟎, 𝒎 =2
Application of Kutzback mobility criterion
Application of Kutzback mobility criterion
𝒏 = 𝟓, 𝒋 = 𝟔, 𝒏 = 𝟔, 𝒋 = 𝟖,
𝒉 = 𝟎, 𝒎 =0 𝒉 = 𝟎, 𝒎 = −𝟏
𝒏 = 𝟑, 𝒋 = 𝟐, 𝒏 = 𝟒, 𝒋 = 𝟑,
𝒉 = 𝟏, 𝒎 =1 𝒉 = 𝟏, 𝒎 =2
Note: if slipping is completely prevented, the joint is counted as one-
degree-of-freedom pair
 Kutzbach criterion can give incorrect results too, since dimensional
properties are not considered in its development.
𝒏 = 𝟓, 𝒋 = 𝟔, 𝒏 = 𝟓, 𝒋 = 𝟔,
𝒉 = 𝟎, 𝒎 = 𝟎 𝒉 = 𝟎, 𝒎 = 𝟎
 If a link can be moved without causing any movement in the rest of the
mechanism, then the link is said to have a redundant degree-of-freedom.
 Mobility with redundant degree-of-freedom (Fr)
m = 3(n – 1) – 2 j – h – Fr
𝒏 = 𝟒, 𝒋 = 𝟒, 𝒉 = 𝟎, 𝒏 = 𝟒, 𝒋 = 𝟑, 𝒉 = 𝟏,
𝑭𝒓 = 𝟏, 𝒎 = 𝟎 𝑭𝒓 = 𝟏, 𝒎 = 𝟏
 P pairs are not parallel
𝒏 = 𝟒, 𝒋 = 𝟒, 𝒉 = 𝟎,
𝑭𝒓 = 𝟎, 𝒎 = 𝟏
 For the mechanism shown in Fig., determine: (a) the number of lower pairs
(j1 joints) and the number of higher pairs (j2 joints); and (b) the mobility of
the mechanism using the Kutzbach criterion. Treating rolling contact to
mean rolling with no slipping. Does this criterion provide the correct answer
for the mobility of this mechanism? Briefly explain why or why not.
 For the mechanism shown in Fig., determine: (a) the number of lower pairs
(j1 joints) and the number of higher pairs (j2 joints); and (b) the mobility of
the mechanism using the Kutzbach criterion. Treating rolling contact to
mean rolling with no slipping. Does this criterion provide the correct answer
for the mobility of this mechanism? Briefly explain why or why not.
𝒏 = 𝟕, 𝒋 = 𝟗, 𝒉 = 𝟏, 𝑭𝒓 = 𝟎, 𝒎 = 𝟑 𝟕 − 𝟏 − 𝟐 𝟗 − 𝟏 = −𝟏
 Links 3 and 4 are superfluous to the constraints of the mechanism
(overconstraint). If links 3 and 4 were removed, the motion of the remaining
links would be unaffected.
 With links 3 and 4 removed, the mobility of the mechanism using the
Kutzbach criterion is m = 1.
𝒏 = 𝟓, 𝒋 = 𝟓, 𝒉 = 𝟏, 𝑭𝒓 = 𝟎, 𝒎 = 𝟑 𝟓 − 𝟏 − 𝟐 𝟓 − 𝟏 = 𝟏
𝒏 = 𝟕, 𝒋 = 𝟕, 𝒉 = 𝟏, 𝑭𝒓 = 𝟎, 𝒎 = 𝟑 𝟕 − 𝟏 − 𝟐 𝟕 − 𝟏 = 𝟑
𝒏 = 𝟏𝟎, 𝒋 = 𝟏𝟐, 𝒉 = 𝟎, 𝑭𝒓 = 𝟎, 𝒎 = 𝟑 𝟏𝟎 − 𝟏 − 𝟐 𝟏𝟐 = 𝟑
𝒏 = 𝟓, 𝒋 = 𝟔, 𝒉 = 𝟎,
𝑭𝒓 = 𝟎, 𝒎 = 𝒏 = 𝟒, 𝒋 = 𝟒, 𝒉 = 𝟎,
𝟑 𝟓−𝟏 −𝟐 𝟔 =𝟎 𝑭𝒓 = 𝟎, 𝒎 =
𝟑 𝟒−𝟏 −𝟐 𝟒 =𝟏
 Because of the parallelogram configuration, the linkage can still move.

 Overconstrained linkage ⇒ the third grounded link provided a redundant
constraint.
 If there are manufacturing errors in link lengths or pivot locations, this
linkage will jam.
𝒏 = 𝟒, 𝒋 = 𝟓, 𝒉 = 𝟎, 𝑭𝒓 = 𝟎, 𝒎 = 𝟑 𝟒 − 𝟏 − 𝟐 𝟓 = −𝟏
 A statically indeterminate structure.
𝒏 = 𝟕, 𝒋 = 𝟖, 𝒉 = 𝟎, 𝑭𝒓 = 𝟎, 𝒎 = 𝟑 𝟕 − 𝟏 − 𝟐 𝟖 = 𝟐
𝒏 = 𝟔, 𝒋 = 𝟕, 𝒉 = 𝟎, 𝑭𝒓 = 𝟎, 𝒎 = 𝟑 𝟔 − 𝟏 − 𝟐 𝟕 = 𝟏
Lect 3: 05.01.2023

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ME2012D Kinematics of Mechanisms

Dr. Ashesh Saha

 P pairs are not parallel

 Because of the parallelogram configuration, the linkage can still move.

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