Mobility of Mechanisms

Me 321 – Lecture 4
Degree of Freedom (DOF)

Degree of Freedom
-the number of inputs which need to be provided in order to
create a predictable output
- the number of independent coordinates required to define
its position
DOF in Planar Mechanisms (Lower Pair)

3 DOF 6 DOF

3 DOF 4 DOF

A low-pair joint reduces the mobility of a mechanism by two DOF

DOF in Planar Mechanisms (Higher Pair)
6 DOF 3 DOF 5 DOF

A high-pair joint reduces the mobility of a mechanism by one DOF

Mobility of Planar Mechanisms

𝒎=𝟑 ( 𝒏 −𝟏 ) −𝟐 𝒋 𝟏 − 𝒋 𝟐

n= 3 n= 4
j1 = 3 j1 = 4
j2 = 0 j2 = 0
m= 0 m= 1

n= 4 n= 5
j1 = 4 j1 = 5
j2 = 0 j2 = 0
m= 1 m= 2
Kutzbach’s Equation of Mobility

m = mobility of the mechanism

n = number of links
j1 = number of low-pair joints
j2 = number of high-pair joints
Mobility of Planar Mechanisms

𝒎=𝟑 ( 𝒏 −𝟏 ) −𝟐 𝒋 𝟏 − 𝒋 𝟐

n= 4 n= 3 n= 2
j1 = 4 j1 = 3 j1 = 2
j2 = 0 j2 = 0 j2 = 0
m= 1 m= 0 m= -1
Effect of Additional Links on Mobility

𝒎=𝟑 ( 𝒏 −𝟏 ) −𝟐 𝒋 𝟏 − 𝒋 𝟐
double low-pair joints!

n= 4 n= 5 n= 6
j1 = 4 j1 = 6 j1 = 8
j2 = 0 j2 = 0 j2 = 0
m= 1 m= 0 m= -1
Gruebler Mobility Paradox

Gruebler Paradox
- are linkages that do not behave as predicted by the
Gruebler/Kutzbach equation

n= 5 n= 5
j1 = 6 j1 = 6
j2 = 0 j2 = 0
m= 0 m= 0=1
Exercise

n= 8 n= 6
j1 = 10 j1 = 7
j2 = 0 j2 = 1
m= 1 m= 0