MER 312: Dynami c s and Ki nemat i c s (of Mec hani sms) / AT Degr ee of Fr eedom No. of independent coordinates needed to define position of body How many DOF does a body in three-space (3-D) have? Uni on Col l ege Mec hani c al Engi neer i ng MER 312: Dynami c s and Ki nemat i c s (of Mec hani sms) / AT Definitions All of the above contain linkages which consist of: Links J oints Uni on Col l ege Mec hani c al Engi neer i ng MER 312: Dynami c s and Ki nemat i c s (of Mec hani sms) / AT Links A link is a nominally rigid body that possess at least 2 nodes. A node is an attachment point to other links via joints. Uni on Col l ege Mec hani c al Engi neer i ng MER 312: Dynami c s and Ki nemat i c s (of Mec hani sms) / AT Links - The order of a link indicates the number of joints to which the link is connected (or the number of nodes per link). There are binary (2 nodes), ternary (3 nodes), and quaternary (4 nodes) links. - Can be any shape (not just those shown) -Link order = number of nodes Uni on Col l ege Mec hani c al Engi neer i ng MER 312: Dynami c s and Ki nemat i c s (of Mec hani sms) / AT Links - Are assumed to be rigid bodies - Have nodes for attachment - Can be any shape (not just those shown) -Link order = number of nodes Uni on Col l ege Mec hani c al Engi neer i ng MER 312: Dynami c s and Ki nemat i c s (of Mec hani sms) / AT J oints allow DOF between links J OINTS A joint is a connection between two or more links at their nodes, which allows motion to occur between the links. A pivot is a joint that allows rotary motion, A slider is a joint that allows linear motion. Uni on Col l ege Mec hani c al Engi neer i ng MER 312: Dynami c s and Ki nemat i c s (of Mec hani sms) / AT J oints allow DOF between links J OINTS Uni on Col l ege Mec hani c al Engi neer i ng MER 312: Dynami c s and Ki nemat i c s (of Mec hani sms) / AT J oi nt s Reduc e Syst em DOF 2.5: Det er mi ni ng DOF or Mobi l i t y Uni on Col l ege Mec hani c al Engi neer i ng MER 312: Dynami c s and Ki nemat i c s (of Mec hani sms) / AT J oi nt s Reduc e Syst em DOF 2.5: Det er mi ni ng DOF or Mobi l i t y Uni on Col l ege Mec hani c al Engi neer i ng MER 312: Dynami c s and Ki nemat i c s (of Mec hani sms) / AT Kinematics Diagrams Uni on Col l ege Mec hani c al Engi neer i ng MER 312: Dynami c s and Ki nemat i c s (of Mec hani sms) / AT Determining Mobility or DOF Gruebler & Kutzbach Equations Grueblers Equation is the most commonly used equation for evaluating simple linkages. Kutzbachs equation is modified Grueblers Equation that takes into consideration full (1 DOF) and half (2 DOF) joints. Uni on Col l ege Mec hani c al Engi neer i ng MER 312: Dynami c s and Ki nemat i c s (of Mec hani sms) / AT Determining Mobility or DOF Grubler & Kutzbach Equations Lower pairs (first order joints) or full-joints (counts as J = 1 in Grueblers Equation) have one degree of freedom (only one motion can occur): - Revolute (R): Also called a pin joint or a pivot, take care to ensure that the axle member is firmly anchored in one link, and bearing clearance is present in the other link , washers make great thrust bearings, snap rings keep it all together A rolling contact joint also counts as a one-degree-of-freedom revolute joint - Prismatic (P): Also called a slider or sliding joint, beware Saint-Venant! - Helical (H): Also called a screw, beware of thread strength, friction and efficiency Uni on Col l ege Mec hani c al Engi neer i ng MER 312: Dynami c s and Ki nemat i c s (of Mec hani sms) / AT Determining Mobility or DOF Gruebler & Kutzbach Equations Joints: Multiple Degree-of-Freedom Lower Pair joints with multiple degrees of freedom: Cylindrical (C) 2 DOF A multiple-joint (J = 2) Spherical (S) 3 DOF A multiple-joint not used in planar mechanisms (J = 3) Planar (F) 3 DOF A multiple-joint (J = 3) Uni on Col l ege Mec hani c al Engi neer i ng MER 312: Dynami c s and Ki nemat i c s (of Mec hani sms) / AT Determining Mobility or DOF Gruebler & Kutzbach Equations J oints: Higher Pair Multiple Degree-of-Freedom Higher Pair joints with multiple degrees of freedom: Link against a plane and a force is required to keep the joint closed (force closed) A half-joint (J 2 = 1 in Kutzbachs equation) The link may also be pressed against a rotating cam to create oscillating motion Pin-in-slot Geometry keeps the joint closed (form closed) (Slide and pin) A multiple-joint (J = 2 in Grueblers equation) Second order pin joint, 3 links joined, 2-DOF A multiple-joint (J = 2 in Grueblers equation) Uni on Col l ege Mec hani c al Engi neer i ng MER 312: Dynami c s and Ki nemat i c s (of Mec hani sms) / AT Kinematics Diagrams Uni on Col l ege Mec hani c al Engi neer i ng MER 312: Dynami c s and Ki nemat i c s (of Mec hani sms) / AT Appl yi ng Mobi l i t y Equat i ons - 1 M = 3 (L-1) 2(J 1) J 2 = 3(8-1) 2(10) 0 = 1 Uni on Col l ege Mec hani c al Engi neer i ng MER 312: Dynami c s and Ki nemat i c s (of Mec hani sms) / AT Appl yi ng Mobi l i t y Equat i ons - 2 M = 3 (L-1) 2(J 1) J 2 = 3(6-1) 2(7) 1 = 0