2.
1 Degree of Freedom (DOF) or
MENG 371 Notes, Chapter 2
Dr. Keith Hekman
September 9, 2003
2.2 Types of Motion
• Pure Rotation – the body possesses on point
(center of rotation) that has no motion with respect
to the “stationary” frame of reference. All other
points move in circular arcs
• Pure Translation – all points on the body describe
parallel (curvilinear or rectilinear) paths.
• Complex motion – a simultaneous combination of
rotation and translation
Mobility
• DOF – number of independent parameters
(measurements) that are needed to uniquely define
its position in space at any instant of time.
• Rigid body in a plane has 3 DOF. (x,y,θ)
• Rigid body in space has 6 DOF (3 translation, 3
rotation)
2.3 Links, joints, and kinematic chains
• Links – building blocks
• Node – attachment points
– Binary link – two nodes
– Ternary link – three nodes
– Quaternary link – four nodes
• Joint – connection between two or more links (at
their nodes) which allows motion
– Classified by type of contact, number of DOF, type of
physical closure, or number of links joined
 Kinematic chains, mechanisms,
Joint Classification
machines, link classification
• Type of contact - line, point, • Kinematic chains –links joined together for motion
surface
• Mechanisms – grounded kinematic chain
• Number of DOF – full
joint=1DOF, half joint=2DOF • Machines – mechanism designed to do work
(removes half as many DOF) • Link classification
• Form closed (closed by – Ground – fixed w.r.t. reference frame
geometry) or Force closed – Crank – pivoted to ground, makes complete revolution
(needs an external force to keep
– Rocker – pivoted to ground, has oscillatory motion
it closed)
– Coupler - link has complex motion, not attached to
• Joint order = number of links-1
ground

2.4 Determining Degree of Freedom 2.4 Determining Degree of Freedom

• For simple mechanisms calculating DOF is simple • Gruebler’s equation for planar mechanisms
M=3L-2J-3G
• Where
– M=degree of freedom or mobility
– L=number of links
Closed Mechanism – J=number of joints (half joints count as 0.5)
Open Mechanism
DOF=3
DOF=1 – G=number of grounded links =1
M=3(L-1)-2J
 2.4 Determining Degree of Freedom 2.4 Determining DOF (Examples)
M=3(L-1)-2J1-J2
• Kutzbach’s equation for planar mechanisms
M=3(L-1)-2J1-J2
• Where
– M=degree of freedom or mobility
– L=number of links
– J1=number of full joints Closed Mechanism
Open Mechanism
– J2=number of half joints
• For Spatial Mechanisms
M=6(L-1) -5J1-4J2-3J3-2J4-J5

2.4 Determining DOF (Examples) 2.4 Determining DOF (Examples)

M=3(L-1)-2J1-J2 M=3(L-1)-2J1-J2
 2.5 Mechanisms and Structures 2.6 Number Synthesis
• Number Synthesis – determination of the number
• Mechanism – DOF>0
and order of links and joints necessary to produce
• Structure – DOF=0 motion of a particular DOF
• Preloaded Structure – • Book gives details
DOF<0, may require Total Links Binary Ternary Quaternary Pentagonal Hexagonal
force to assemble 4 4 0 0 0 0
6 4 2 0 0 0
6 5 0 1 0 0
8 7 0 0 0 1
8 4 4 0 0 0
8 5 2 1 0 0
8 6 0 2 0 0
8 6 1 0 1 0

2.7 Paradoxes 2.8 Isomers

• Greubler criterion does not
include geometry, so it can
give wrong prediction
• Usually when things are
the same
Gears E-quintet
• Greek for having equal parts
• Refers to valid ways to assemble different types of
links
• Only one valid fourbar isomer
• Two valid sixbar isomers
• Third one fails DOF test, as the DOF is not
distributed over the linkage.
 Fourbar Isomer Watt’s Sixbar Isomer
• Only way to construct a fourbar isomer is to have • One way to construct a sixbar isomer is to have the
one binary link next to another binary link. two ternary links attached.

Stephenson’s Sixbar Isomer Invalid Sixbar Isomer

• One way to construct a sixbar isomer is to have the • This is an invalid isomer as the DOF is not
two ternary links separated. distributed through the mechanism

This is a structure
Effective link
 2.9 Linkage Transformation 2.10 Intermittent Motion
• A slider can be replaced by a link of infinite length
• Series of Motions and Dwells
• Dwell – no output motion with input motion
• Examples: Geneva Mechanism, Linear Geneva
Mechanism, Ratchet and Pawl

Geneva Mechanism Linear Geneva Mechanism

 Ratchet and Pawl 2.11 Inversion
• Created by
grounding a
different link in a
kinematic chain
• Different behavior
for different
inversions

3 Stephenson 6-bar inversions 2 Watt’s 6-bar inversions

 2.12 Grashof Condition For case of S+L<P+Q
• Fourbar linkage is simplest linkage with 1DOF • Ground link adjacent to shortest => crank-rocker
• Grashof condition predicts behavior of linkage • Ground shortest link => double crank
based only on links length
• Ground link opposite shortest link – Grashof double
– S=length of shortest link
rocker with shortest link capable of making a
– L=length of longest link
complete rotation
– P,Q=length of other two links
• If S+L P+Q the linkage is Grashof with at least one
link capable of making a complete rotation
• Otherwise the linkage is non-Grashof with no link
capable of making a complete rotation relative to
ground

For the case of S+L>P+Q For the case of S+L=P+Q

• All inversions will be double rockers • Book says all inversions will be double cranks or
crank rockers (true if S=P,L=Q)
• Indeterminate point when links are aligned
(change points)
Parallelogram form Deltoid form

Anti parallelogram
form
 Barker’s Complete Classification 2.13 Linkages of more than 4 bars
s+l vs
Type p+q Inversion Class Barker’s Designation Code Also Known as
1 < L1=s=ground I-1 Grashof crank-crank-crank GCCC double-crank
2 < L2=s=input I-2 Grashof crank-rocker-rocker GCRR crank-rocker
3 < L3=s=coupler I-3 Grashof rocker-crank-rocker GRCR double-rocker
4 < L4=s=output I-4 Grashof rocker-rocker-crank GRRC rocker-crank
5 > L1=l=ground II-1 Class 1 rocker-rocker-rocker RRR1 Triple-rocker
6 > L2=l= input II-2 Class 2 rocker-rocker-rocker RRR2 Triple-rocker
7 > L3=l= coupler II-3 Class 3 rocker-rocker-rocker RRR3 Triple-rocker
5-bar 2DOF
8 > L4=l= output II-4 Class 4 rocker-rocker-rocker RRR4 Triple-rocker
Geared 5-bar 1DOF
9 = L1=s=ground III-1 Change point crank-crank-crank SCCC SC double-crank
10 = L2=s=input III-2 Change point crank-rocker-rocker SCRR SC crank-rocker
11 = L3=s=coupler III-3 Change point rocker-crank-rocker SRCR SC double-rocker
•Provides for more complex motion
12 = L4=s=output III-4 Change point rocker-rocker-crank SRRC SC rocker-crank
Parallelogram or
•Watt’s sixbar – 2 fourbar linkages in series
13 = Two equal pairs III-5 Double change point S2X
deltoid
14 = L1=L2=L3=L4 III-6 Triple change point S3X Square •Stephenson’s sixbar – 2 fourbar linkages in parallel

2.14 Springs as links 2.15 Compliant Mechanisms

• Springs remove a degree of freedom (1 more • Compliant “link” capable of significant deflection
equation) acts like a joint
• Examples: desk arm lamp, garage door • Also called a “living hinge”
• Advantage: simplicity, no assembly, little friction
 2.16 Micro Electro-Mechanical 2.17 Practical Considerations
Systems (MEMS) 2.18 Motors and Drivers
• Micromachines range in size from few micrometers • Read on your own
to a few millimeters
• Shape is made on large scale, then photographically
reduced on wafer and etched.
• Can make
compliant
mechanisms
in MEMS