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#2 Kdom Mechanisms Part II

The document discusses techniques for calculating the degrees of freedom of mechanical linkages using Grubler's criterion and its modifications. It introduces Grubler's criterion which relates the degrees of freedom to the number of links and joints in the linkage. It then discusses various cases where Grubler's criterion needs to be modified, such as for linkages with redundant joints or degrees of freedom, higher pairs, or prismatic joints arranged in different directions. The goal is to provide a way to accurately calculate the degrees of freedom based on the structure of the particular linkage.

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Mudit Bothra
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122 views20 pages

#2 Kdom Mechanisms Part II

The document discusses techniques for calculating the degrees of freedom of mechanical linkages using Grubler's criterion and its modifications. It introduces Grubler's criterion which relates the degrees of freedom to the number of links and joints in the linkage. It then discusses various cases where Grubler's criterion needs to be modified, such as for linkages with redundant joints or degrees of freedom, higher pairs, or prismatic joints arranged in different directions. The goal is to provide a way to accurately calculate the degrees of freedom based on the structure of the particular linkage.

Uploaded by

Mudit Bothra
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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ME 316 KDOM MECHANISMS

Equivalent Mechanisms
Higher pair
Center of
curvature B
O4
1
3
2
A
Center of
O2 curvature
1

1/10/2017 D.N. Manik 1


ME 316 KDOM MECHANISMS
Equivalent Mechanisms
Equivalent linkage of a higher pair
B
O4
3
4 1

2 A
O2
1

1/10/2017 D.N. Manik 2


ME 316 KDOM MECHANISMS
Equivalent of cam with a flat follower
1-2 R
2-4 R
1 4-3 P
3-1 P 1
3
3
4
2 2

1
1/10/2017
1 D.N. Manik 3
ME 316 KDOM MECHANISMS
Mobility analysis: degree of freedom
An isolated planar link has 3 degrees of freedom

Consider a mechanism with n links

Fixed link is not counted for the degree of freedom


of the mechanism

Total number of degrees of freedom for all the


moving planar links not connected to each other
=3(n-1)
1/10/2017 D.N. Manik 4
ME 316 KDOM MECHANISMS
Mobility analysis: degree of freedom
Let j be the total number of lower pairs
(revolute or prismatic) that will connect the
links

Each lower pair connects two links and hence


restricts two degrees of freedom

Total number of degrees of freedom of a


mechanism of n links and j kinematic pairs
F=3(n-1)-2j (Grublers criterion)
(Assumption: only two links at a joint)
1/10/2017 D.N. Manik 5
ME 316 KDOM MECHANISMS
Grublers criterion for a single degree
of freedom constant mechanism

F=1
F=3(n-1)-2j
1=3(n-1)-2j
2j-3n+4=0

1/10/2017 D.N. Manik 6


ME 316 KDOM MECHANISMS
Mobility analysis: degree of freedom
Testing Grublers criterion
Four bar linkage

n=4, j=4 (all R)


F=3(n-1)-2j
=3(4-1)-2x4=1

1/10/2017 D.N. Manik 7


ME 316 KDOM MECHANISMS
Testing Grublers criterion

n=7 (number of links)


J=8 (number of joints)
F=3(7-1)-2x8=2 (degrees of freedom)
1/10/2017 D.N. Manik 8
ME 316 KDOM MECHANISMS
More than two links at a hinge

2 2
2
1 1
Equivalent
3 3 to two hinges

Compound or higher order hinges


1/10/2017 D.N. Manik 9
ME 316 KDOM MECHANISMS
Grublers criterion for compound hinges and higher pairs
F=3(n-1)-2j-h
F: degrees of freedom
n: number of links
j: equivalent number of hinges
h: number of higher pairs
j=j1+2j2+3j3+
j1=number of hinges with two links
j2=number of hinges with three links
j3=number of hinges with four links

1/10/2017 D.N. Manik 10


ME 316 KDOM MECHANISMS
Redundant degrees of freedom
2
4
1-2 R 3
2-3 P
3-4 P n=4, j=4
4-1 R 2
F=3(n-1)-2j-h 4
=3(4-1)-2x4=1
However, there cannot be
any movement
1
1
If a link (link 3 above) can move without causing any
movement in the rest of the mechanism, then the link is said
to have a redundant degree of freedom.
1/10/2017 D.N. Manik 11
ME 316 KDOM MECHANISMS
Redundant degree of freedom removed
Redundant freedom is removed
2
3 4

1-2 R
2 2-3 P
3-4 P
4
4-1 R

Links 2 and 4 move together


1 1
1/10/2017 D.N. Manik 12
ME 316 KDOM MECHANISMS
Redundant degrees of freedom
3
Roller

Follower
2
4
n=4, j=3, h=1
1 F=3(n-1)=2j-h 1
=3(4-1)-2x3-1=2

Movement of roller is a redundant degree of freedom


1/10/2017 D.N. Manik 13
ME 316 KDOM MECHANISMS
Modified Grublers equation

Feff =3(n-1)+2j-h-Fr
Feff : effective degrees of freedom
n: number of links
j: equivalent number of lower pairs
h: number of higher pairs
Fr: number of redundant degrees of freedom

1/10/2017 D.N. Manik 14


ME 316 KDOM MECHANISMS
Redundant kinematic pairs
Bearing Bearing
Shaft

Shaft between two bearings: one revolute pair is redundant


1/10/2017 D.N. Manik 15
ME 316 KDOM MECHANISMS
Redundant kinematic pairs
n=6, j=5(R)+3(P)=8
3
F=3(6-1)-2x8=-1
4 Statically indeterminate
2 5 Structure? But it has a
definite input-output
6 motion

Any one 1
1 of the three prismatic pairs is redundant
(since they are in the same direction)
n=6, j=5(R)+2(P)=7
F=3(6-1)-2x7=1 Now it make sense
1/10/2017 D.N. Manik 16
ME 316 KDOM MECHANISMS
Modified Grublers equation

Feff =3(n-1)+2(j-jr)-h-Fr
Feff : effective degrees of freedom
n: number of links
j: number of lower pairs
jr: number of redundant lower pairs
h: number of higher pairs
Fr: number of redundant degrees of freedom

1/10/2017 D.N. Manik 17


ME 316 KDOM MECHANISMS
Prismatic pairs in different directions

1
3 3

2
2
1
1
n=3, j=3(P)
F=3(3-1)-2x3=0
1/10/2017 D.N. Manik 18
ME 316 KDOM MECHANISMS
Modified Grublers equation

Feff =3(n-1)+2(j-jr)-h-Fr+Pr
Feff : effective degrees of freedom
n: number of links
j: number of lower pairs
jr: number of redundant lower pairs
h: number of higher pairs
Fr: number of redundant degrees of freedom
Pr: number of three-link closed chains having
three prismatic pairs in different directions
1/10/2017 D.N. Manik 19
ME 316 KDOM MECHANISMS
Degree of freedom due to kinematic dimensions

2
5 4 n=5,j=6
F=3(5-1)-2x6=0

11 1
1/10/2017 D.N. Manik 20

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