ME2012D Kinematics of Mechanisms

Lecture-4 Mobility- Grübler’s Criterion

Dr. Ashesh Saha

Assistant Professor
Email: ashesh@nitc.ac.in
Department of Mechanical Engineering
National Institute of Technology Calicut
 Grübler’s criterion
 Applies to mechanisms with only single-degree-of-freedom joints where the
overall mobility of the mechanism is unity
 Kutzbach Equation: m = 3(n – 1) – 2 j – h
 Substituting h = 0 and m = 1, for planar mechanisms: 2 j – 3 n + 4 = 0
 Such a mechanism cannot have odd number of links
 Simplest possible mechanism of this type with all binary links can have
n=j=4
 This is the reason why four-bar linkages and slider-crank mechanisms
are so common in applications
 Spatial mechanisms

 Each unconnected link has six degrees of freedom

 Each revolute pair provides five constraints
 3D form of Kutzbach criterion is: m = 6 (n – 1) – 5 j1 – 4 j2 – 3 j3 – 2 j4 – j5
 Corresponding Grübler criterion is: 6n – 5 j1 – 7 = 0
 Spatial mechanism with all single-degree-of-freedom pairs and mobility 1
 Simplest possible mechanism of this type with all binary links can have
n = j 1= 7
 Grübler’s criterion

 Different Integer Solutions of 2 j – 3 n + 4 = 0 for Mobility of One

 With the increase in the number of links, the number of excess turning
pairs goes on increasing.
 Grübler’s criterion

 Solutions of the planar mobility equation for m = 1 when n = 2 and n = 4.

 Getting the required number of turning pairs from the required number of
binary links is not possible for n > 4.
 The excess or the additional pairs or joints can be obtained only from the
links having more than two joining points, i.e., ternary or quaternary links.
 Grübler’s criterion

Watt’s six bar chain Stephenson’s six bar chain

 Grübler’s criterion
 Two excess turning pairs
required for an eight-link chain
can be obtained by using (apart
from binary links):
1. Four ternary Links (Figs. (a)
and (b))
2. Two ternary links (Fig. (c))
3. One quaternary and two
ternary links (Fig. (d))
Grübler’s criterion
 Grübler’s criterion

 For this kinematic chain n = 8.

 The chain has 3 ternary links.
 A double pair between the links 6, 7 and 8.
 Total number of pairs j = 8.
 Mobility m = 3 (8 - 1) -2 × 10 = 1
 Kinematic Diagram
 Schematic line diagram showing the arrangement of links and their inter-
connection
 A stripped-down (simplified) drawing showing the essentials needed for
kinematic analysis
 Reveals the kinematic chain
 Dimensions are secondary
 All links are numbered while the joints are lettered
 A kinematic diagram should be drawn to a scale proportional to the actual
mechanism
Kinematic Diagram
Kinematic Diagram
Kinematic Diagram
Kinematic Diagram
Kinematic Diagram
 Kinematic Diagram

Clamping Jaw
 Kinematic Diagram

Clamping Jaw
Kinematic Diagram
Kinematic Diagram
Kinematic Diagram
Kinematic Diagram
Kinematic Diagram
Kinematic Diagram
Kinematic Diagram
Kinematic Diagram
Kinematic Diagram
Kinematic Diagram
Kinematic Diagram
Kinematic Diagram