Determining Degree of Freedom

(Mobility)

In mechanics, the degree of freedom (DOF) also called the mobility M of a mechanical system is
the number of independent parameters that define its configuration.

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Example 1: Any free link in plane has 3 DOF. Therefore a system of L unconnected links in the
same plane will have 3L DOF. For example, two unconnected links have a total of 6 DOF.

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When these links are connected by a full joint (pin) then ∆x1 and ∆x2 are combined as ∆x , and
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∆y1 and ∆y2 are combined as ∆y .This removes 2 DOF, leaving 4 DOF.
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The half joint removes only 1 DOF from the system (because a half joint has 2 DOF: roll-slide).
Thus the system of two links connected by a half joint has 5 DOF.

Note that ground link loses 3 DOF, mobility decreases by 3.

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Prepared by Dr. Eyyup Aras, KSU, 2014 Fall
To determine the overall DOF of a mechanism, we must count the number of links and also the
number of joints and their DOFs.

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Figure 1: Types of joints between two bodies, and their DOFs
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(Steven M. LaValle, 2006, Cambridge University Press)
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Gruebler’s Equation (Kutzbach's modification)

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Mobility for planar linkages joined with common joints can be calculated through
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M = 3( L − 1) − 2 J 1 − J 2
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where: M = degree of freedom, or Mobility

L = number of links , Ground is link 1
J 1 = number of full joints, 1 DOF , revolute, prismatic, screw joints
J 2 = number of half joints, 2 DOF , roll-slide, cylindrical joints

Note that the above mobility equation has no information about link sizes or shapes.

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Prepared by Dr. Eyyup Aras, KSU, 2014 Fall
Example 2: A toggle clamp is shown, Draw a kinematic diagram, and also compute the degrees
of freedom for the clamp.

Figure 2: Toggle clamp mechanism

(Machines & Mechanisms, David H. Myszka, Fourth Edition)

1- Identify the frame: The component that is bolted to the table is frame.

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Frame is numbered as link 1.

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2- Identify all other links: Link 2, Link3, and Link4 (see the Figure 3)

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3- Identify the joints: Four pin joints are used to connect the links. This joints are lettered A
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through D.
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4- Draw the kinematic diagram: the kinematic diagram is given as follows

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Figure 3: Kinematic Diagram for this example

(Machines & Mechanisms, David H. Myszka, Fourth Edition)

5- Calculate Mobility M: Having four links (L = 4 ) ,

Four full joints (J 1 = 4 ) . They are pin joints
and no half joint (J 2 = 0)
M = 3( L − 1) − 2 J 1 − J 2 = 3( 4 − 1) − 2(4 ) − 0 = 1

Thus, in this mechanism when we move only one link, the handle positions all other links in the
clamp. s ∗

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Prepared by Dr. Eyyup Aras, KSU, 2014 Fall
Coincident Joints

Some mechanisms have three links that are all connected at a common pin joint. For kinematic
analysis, this configuration must be mathematically modeled as two separate joints. One joint
will connect the first and second links. The second joint will then connect the second and third
links. Therefore, when three links come together at a common pin, the joint must be modeled as
two pins.

Figure 4: Three links connected at a common pin joint

(Machines & Mechanisms, David H. Myszka, Fourth Edition)

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Example 3:
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In this question already the frame (link 1)

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has been identified, also it is the kinematic

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diagram.
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Having eight links (L = 8) , Ground is link 1

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Ten full joints: one sliding and nine pin

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joints (two of them from the multiple joint).

(J 1 = 10)
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No half joint (J 2 = 0)
M = 3( L − 1) − 2 J 1 − J 2

M = 3(8 − 1) − 2(10) − 0 = 1

Figure 5: Linkage with FULL and MULTIPLE joints

(Design of Machinery, Robert L. Norton, Second Edition)

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Example 4: s ∗

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Figure 6: Linkage with FULL, HALF and MULTIPLE joints
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(Design of Machinery, Robert L. Norton, Second Edition)
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Having six links (L = 6) , ground is link 1

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Seven full joints (two of them from the multiple joint), (J 1 = 7 ) . They are pin joints
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One half joint (roll-slide joint) (J 2 = 1)

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M = 3( L − 1) − 2 J 1 − J 2 = 3(6 − 1) − 2(7 ) − 1 = 0
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Example 5:
Having seven links (L = 7 ) ,
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Ground is link 1
Seven full joints (J 1 = 7 ) : pin joints
One half joint (J 2 = 1) : pin in slot

M = 3( L − 1) − 2 J 1 − J 2

M = 3(7 − 1) − 2(7 ) − 1 = 3

Note that: Pin in slot is a (roll-slide)

joint. It is a half joint (DOF=2)

See Example 7 for the pin in slot

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Prepared by Dr. Eyyup Aras, KSU, 2014 Fall
Example 6: A beverage can crusher is shown. Draw a kinematic diagram, also calculate the
DOF for the device.

Figure 7: A beverage cans crusher

(Machines & Mechanisms, David H. Myszka, Fourth Edition)

1- Identify the frame: the back part of the device can be chosen as the frame.
Frame is numbered as link 1.

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2- Identify all other links: Link 2, Link3, and Link4 (see the Figure 8)

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3- Identify the joints: Three pin joints A, B, C are used to connect the links,

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crushing block slides vertically (sliding joint D).
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4- Draw the kinematic diagram: the kinematic diagram is given as follows
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Figure 8: Kinematic Diagram for this example

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(Machines & Mechanisms, David H. Myszka, Fourth Edition)

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5- Calculate Mobility M: Having four links (L = 4 ) ,

Four full joints (J 1 = 4 ) : three pin joints and one slider joint,
No half joints (J 2 = 0)

M = 3( L − 1) − 2 J 1 − J 2 = 3( 4 − 1) − 2(4 ) − 0 = 1

Thus, in this mechanism when we move only one link, the handle positions all other links and
crushes a beverage can.

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Prepared by Dr. Eyyup Aras, KSU, 2014 Fall
Example 7: In the following example a toggle clamp mechanism is shown. Draw a kinematic
diagram, also calculate the DOF for the device.

Figure 9: Toggle clamp mechanism

(Machines & Mechanisms, David H. Myszka, Fourth Edition)

Note that: Pin in slot can be thought

either as a half joint (J 2 = 1) or as

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two full joints (J 2 = 0) . In the

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kinematic diagram in Figure 9 it is
two full joints. ac
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Also note that: The sliding joint (1DOF) is used to model the motion between the screw and the
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nut (1DOF).
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Having six links (L = 6) ,

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Seven full joints (J 1 = 7 ) : five pin joints A, B, C, D, E and two slider joints
No half joints (J 2 = 0)
M = 3 ( L − 1) − 2 J 1 − J 2

M = 3 (6 − 1) − 2(7 ) − 0 = 1
With one-degree of freedom: Moving one link,
the handle that rotates the screw, will position
all other links, raising or lowering the table.
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Figure 10: Kinematic diagram for this example

(Machines & Mechanisms, David H. Myszka, Fourth Edition)

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Problems

For the following problems draw the kinematic diagrams, also calculate the DOFs. (The
following questions are from Machines & Mechanisms, David H. Myszka, Fourth Edition)

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Mechanical press Lift platform on the truck
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Shear press Lift platform

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Mechanisms and Structures

The degree of freedom of an assembly of links completely predicts its character. There are only
three possibilities:

 If the DOF is positive: it will be a mechanism and the links will have relative motion.
 If the DOF is exactly zero: then it will be a structure, there will be no motion.
 If the DOF is negative: then it is a preloaded structure, there will be no motion and some
stresses may also be present at the time of assembly.

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Note that Linkages with multiple degrees of freedom need more than one driver to precisely
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operate them. Common multi-degree of freedom mechanisms are open loop kinematic chains
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such as robotic arms and backhoes.

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Figure 11: Robotic arm (Courtesy of Motoman Inc.)

(Machines & Mechanisms, David H. Myszka, Fourth Edition)
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Paradoxes

Gruebler’s equation ignores the link sizes and the link shapes. Therefore it can give misleading
conclusions for the unique configurations. We must use inspection. Some examples are shown
below:

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No motion motion

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In the following example, If no slip occurs then this is a full joint (1 DOF) that allows only relative
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angular motion (rotation) between two wheels. Thus there are three links and three full joints.
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The Gruebler’s equation predicts DOF=0, but mechanism has DOF=1.

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Motion

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