ME 310 [Mechanics of Machines]
Lecture 2
Degrees of Freedom
Instructor: Dr. Mir Md Maruf Morshed
Mechanisms
A mechanism with four links is known as simple
mechanism, and the mechanism with more than four
links is known as compound mechanism.
Planar Motion and Planar mechanism:
If all points in a mechanism move in parallel planes, the
system undergoes planar motion and the mechanism
may be described as a planar mechanism.
Note: All mechanism that we will deal with are planar
mechanisms
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Unit 1 - Lecture 2
Mobility/Degree of Freedom
Degree of freedom of a planar link: the precise position of a
planar link is defined through the location of the its center with
respect to the origin of the fixed Cartesian coordinate and the
angle measured from a reference position (usually the x-axis).
See the following Figure. this means that any planar link has 3
DOF.
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Mobility/Degree of Freedom
Degree of freedom of a kinematic pair: is the number the
relative motions between the two connected elements, which are
allowed by this pair.
The following table lists all the kinematic pairs and their degree
of freedom
Kinematic Pair Figure Symbol Degree of Freedom
Rotary R 1
Sliding/ P 1
Prismatic
Helical H 1
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Mobility/Degree of Freedom
Kinematic Pair Shape Symbol Degree of Freedom
Cylindrical C 2
Spherical S 3
Planar F 3
Link against Plane RP 2
Pin in slot RP 2
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Unit 1 - Lecture 2
Mobility/Degree of Freedom
Mobility : the mobility of a mechanism is defined as the number of
independent parameters (variables) required to precisely specify the
positions of all the links of this mechanism.
Degree of freedom: the mobility of a planar mechanism is called the degree
of freedom of the mechanism. The degree of freedom of a mechanism could
also be defined as the number of independent parameters we must specify to
determine the position of every link relative to the frame or fixed link.
Most of the time, these independent variables/ parameters are angles.
The following figure shows a single degree of freedom and a double degrees
of freedom planar mechanisms.
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Unit 1 - Lecture 2
Gruebler Form
To determine the mobility or the degree of freedom of planar mechanisms,
the following equation which is called Grubler or Kutchback form is used.
“M” or “DOF” = 3(l-1) – 2J1 – J2
Where;
M refers to the mobility and DOF refers to the degree of
freedom. M is practically equal to the number of motors which
are sufficient for full control on the mechanism motions.
l : the total number of links including the fixed one
J1 (Pl): the number of full joints or lower pairs Pl. These pairs
have a single degree of freedom.
J2 (Ph): the number of half joints or higher pairs Ph. These pairs
have two degrees of freedom.
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Unit 1 - Lecture 2
Gruebler Form
Based on the degrees of freedom calculated using the Grubler
form, the kinematic chain will be one of the following cases:
M = 2, 3, …… (unconstrained mechanism and to be constrained
we need to add number of drivers which are equal to the
calculated M at specified locations)
M = 1 (constrained mechanism, where a motor is enough to
make full control on the motion of the mechanism).
M = 0 (structure)
M = -1 (undetermined structure)
M = -2 (super structure)
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Unit 1 - Lecture 2
Solved Examples
For the two kinematic chains shown in the following Figures, find the
mobility (DOF) and determine whether they are mechanisms or
structures.
DOF=1 DOF=0
Figure 1 Figure 2
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Solved Examples
Solution:
L=8
J1 (Pl) = 10
J2 (Ph) = 0
“M” or “DOF” = 3(l-1) – 2J1 – J2
M = 3 (8-1) – 2*10 – 0 = 1
The kinematic chain is a constrained mechanism
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Solved Examples
Solution:
L=6
J1 (Pl) = 7
J2 (Ph) = 1
“M” or “DOF” = 3(l-1) – 2J1 – J2
M = 3 (6-1) – 2*7 – 1 = 0
The kinematic chain is a structure
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Solved Examples
The kinematic chain in (a) has 5 links and 5 lower pairs,
then the degrees of freedom is 2 and it is unconstrained
Mechanism.
The one in (b) has an extra higher pair as the connection
between the two discs is in line. Its degree of freedom is
unity and it is a constrained mechanism
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Odd Cases of Gruebler Form Failure
Sometimes, the Gruebler fails to determine the actual mobility of the kinematic chain
as the following cases.
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Solved Examples
DOF=1
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Practice Problems
For the linkages shown below, find the degrees of freedom and determine whether
it is a structure (which degree) or mechanism (constrained/unconstrained)
DOF=0 DOF=1 DOF=2 DOF=0 DOF=-1
DOF=2 DOF=1
DOF=1
DOF=1
DOF=1
DOF=3
DOF=0
DOF=1
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Practice Problems
For the figure numbers listed below in the table with the corresponding pages in the
textbook, find the degrees of freedom and determine whether it is a structure (which
degree) or mechanism (constrained/unconstrained)
Figure Page
1.37 and 1.38 23
1.50 32
1.54a and 1.54b 35
P1.1a and P1.1b 35
All figures 36
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