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Mechanisms Review Kinematics Fundamentals Degrees of Freedom (DOF)

Degrees of freedom (DOF) defines the number of independent parameters needed to completely define the configuration of a mechanical system. A system's DOF is calculated as the number of links minus the number of joints. Kinematic pairs connect links in mechanisms and can be lower pairs like revolute or prismatic joints, or higher pairs with multiple contacts. Planar mechanisms have all links moving in parallel planes, and the slider-crank is a common planar mechanism. It has one degree of freedom, with the crank angle typically as the input and slider displacement and connecting rod angles as outputs.

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80 views6 pages

Mechanisms Review Kinematics Fundamentals Degrees of Freedom (DOF)

Degrees of freedom (DOF) defines the number of independent parameters needed to completely define the configuration of a mechanical system. A system's DOF is calculated as the number of links minus the number of joints. Kinematic pairs connect links in mechanisms and can be lower pairs like revolute or prismatic joints, or higher pairs with multiple contacts. Planar mechanisms have all links moving in parallel planes, and the slider-crank is a common planar mechanism. It has one degree of freedom, with the crank angle typically as the input and slider displacement and connecting rod angles as outputs.

Uploaded by

احمد عمر حديد
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© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Mechanisms Review

Kinematics Fundamentals
Degrees of freedom (DOF)

Degrees of Freedom (DOF)

Number of _____________________ which


are needed to _____________ define the
_____________ of all parts of a system at
any instant of time.
Number of __________________ needed to
give a predictable output if dimensions known

DOF defines gross motions in a rigid body/link


In the ______________________ stage, the
kinematic bodies are assumed _____________ and
____________________
In reality, elastic bodies have __________________
of DOFs, but we often approximate certain parts as
massless elements.
{

3 DOFs

_________________ analysis and reduces the number of


effective DOFs.

Linkages (kinematic chains)


Linkages = __________+ ______________ (kinematic
pair connected to nodes) .
Provide a controlled output motion in response to input
motion.
Linkages are basic building blocks of mechanisms.

________ link - 2 nodes


Ternary link - 3 nodes

Quaternary link - 4 nodes

Joint - 6 basic lower pairs


Revolute (R)

__ DOF

Prismatic (P)

__ DOF

Helical (H)

__ DOF

RP

Cylindric (C)

__ DOF

RP

Spherical (S)

__ DOF

RRR

Planar (F)

__ DOF

RPP

Figure
-3
22-3
Figure2-

Pairing Elements

Courtesy:www.technologystudent.com

x & related by
lead of threads

Kinematic Pairs
Based on the nature of mechanical
constraint
(a) ________ pair
(b) Unclosed or _____________
pair

Physical closure

Form-closed -- joint is closed by its


geometry
{

preferred for ______________________


_______________________

Force-closed -- an external force is


needed to keep joint together
{

preferred for ______________________

Force-Closed Mechanism

Locking out DOF

The spring is _____


a rigid body, _____
a link, and ______
_______ contribute
to the DOF equation

Sometimes an applied force can


_______________________ at a joint
Example: automobile tire
{
{

Normal friction: ____________


Reduced friction: _________________
(locked brakes)
Sudden start: ___________________

Courtesy:www.technologystudent.com

DOF in __________ Mechanisms

Classification of Mechanisms

Kutzbach-Grueblers equation (G=1)

If ______, the mechanism has M DOF

If ______, the mechanism is a ________.


All motion has been constrained.

If M < 0, there are redundant constraints,


and the mechanism is a __________
______________________________ or
preloaded structure.

Planar Mechanisms

Slider-crank mechanism

When all the _________ of a


mechanism move in a plane motion, it
is called a ______________________.
All the links in a planar mechanism
move in planes __________________
to the reference plane.

Single cylinder engine animation:


http://www.keveney.com/otto.html

Courtesy:www.technologystudent.com

Slider-Crank

Slider Crank DOF


M = 3 (L - 1) - 2 J1 - J2

Number of links:
{
{
{
{

____________ = #1
____________ = #2
____________ = #3
____________ = #4

L=

Slider Crank DOF

Slider-Crank
Y

M = 3 (L - 1) - 2 J1 - J2

Number of joints:
{
{
{
{

#1 ___________________________
#2 ___________________________
#3 ___________________________
#4 ___________________________

J1 =

Slider-Crank Analysis

Slider-Crank Analysis

Y
For the typical case where

r
R3

r
R2
Typical knowns are

r
R1

X
Typical input is
Typical outputs are

3 = 90o

Engine Bore & Stroke

Engine cylinders are described by the


bore and stroke.
Bore = diameter of piston
Stroke = ____________

2006 Pontiac Solstice

5.659 in

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