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ME342 2023 Week02-A

This document discusses degrees of freedom (DOF) in mechanisms. It defines DOF as the number of independent inputs required to determine the position of all links in a mechanism. Gruebler's equation is introduced to calculate the DOF of a mechanism based on the number of links and types of joints. Special cases like overconstrained mechanisms and passive DOF are also covered. The document concludes by distinguishing kinematic analysis from kinematic synthesis in mechanism design.

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11 views22 pages

ME342 2023 Week02-A

This document discusses degrees of freedom (DOF) in mechanisms. It defines DOF as the number of independent inputs required to determine the position of all links in a mechanism. Gruebler's equation is introduced to calculate the DOF of a mechanism based on the number of links and types of joints. Special cases like overconstrained mechanisms and passive DOF are also covered. The document concludes by distinguishing kinematic analysis from kinematic synthesis in mechanism design.

Uploaded by

이승재
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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ME342 Mechanism Design

by Prof. Seungbum Koo


Week02-A. Degrees of Freedom
1.7 DEGREES OF FREEDOM (DOF)
 We are usually interested in making a mechanism whose
position (or configuration) can be determined with one
independent variable (or input).

KAIST, Department of Mechanical Engineering 2


ME342 Mechanism Design by Prof. Seungbum Koo
1.7 DEGREES OF FREEDOM (DOF)
 Independent variables to completely specify the position
of a object

a rigid body
or a link

a point

You can put as many reference points


or lines on the body as you want
KAIST, Department of Mechanical Engineering 3
ME342 Mechanism Design by Prof. Seungbum Koo
1.7 DEGREES OF FREEDOM (DOF)
 Independent variables to completely specify the position
of a object

A finite line with two end points

KAIST, Department of Mechanical Engineering 4


ME342 Mechanism Design by Prof. Seungbum Koo
1.7 DEGREES OF FREEDOM (DOF)
 Independent variables to completely specify the position
of a object

A system with two finite lines

KAIST, Department of Mechanical Engineering 5


ME342 Mechanism Design by Prof. Seungbum Koo
1.7 DEGREES OF FREEDOM (DOF)
 Independent variables to completely specify the position
of a object

Two rigid bodies joined by a pin joint

KAIST, Department of Mechanical Engineering 6


ME342 Mechanism Design by Prof. Seungbum Koo
1.7 DEGREES OF FREEDOM (DOF)
 Degree of freedom of a mechanism: the number of independent inputs
required to determine the position of all links of the mechanism with
respect to ground

Number of
𝑥𝑥𝐴𝐴 , 𝑦𝑦𝐴𝐴 𝑎𝑎𝑎𝑎𝑎𝑎 𝜃𝜃 links 𝑛𝑛 = 2

DOF = 3 DOF = 3 × 𝑛𝑛
=6

DOF = 4 DOF = 1

KAIST, Department of Mechanical Engineering 7


ME342 Mechanism Design by Prof. Seungbum Koo
1.7 DEGREES OF FREEDOM (DOF)
 Independent variables to completely specify the position
of a object
Y

DOF = ?

 A pin (or revolute) joint reduces two degrees of freedom


 Welding reduces three degrees of freedom
KAIST, Department of Mechanical Engineering 8
ME342 Mechanism Design by Prof. Seungbum Koo
1.7 DEGREES OF FREEDOM (DOF)
 Pin joint
 A pin (or revolute) joint is called a lower-pair connector and
has surface contact between its elements such as the pin and
the bushing

KAIST, Department of Mechanical Engineering 9


ME342 Mechanism Design by Prof. Seungbum Koo
1.7 DEGREES OF FREEDOM (DOF)
 Independent variables to completely specify the position
of a object

𝐷𝐷𝐷𝐷𝐷𝐷 = 3

Rule to count DOF?

3 x (# bodies) - 3 x (# weld) - 2 x (# pin joint)

KAIST, Department of Mechanical Engineering 10


ME342 Mechanism Design by Prof. Seungbum Koo
1.7 DEGREES OF FREEDOM (DOF)
 Gruebler’s equation
degrees of freedom = 𝐹𝐹 = 3 𝑛𝑛 − 1 − 2𝑓𝑓1
 (n-1) : number of mobile links
 𝑓𝑓1 : number of pin joints (or lower-pair joints)

 Most mechanism tasks require a single input to be


transmitted to a single output  1 DOF mechanisms are
frequently used

KAIST, Department of Mechanical Engineering 11


ME342 Mechanism Design by Prof. Seungbum Koo
1.7 DEGREES OF FREEDOM (DOF)
 Apply Gruebler’s equation to some links

KAIST, Department of Mechanical Engineering 12


ME342 Mechanism Design by Prof. Seungbum Koo
1.7 DEGREES OF FREEDOM (DOF)
 Apply Gruebler’s equation to some links

Slider joint
A slider (or prismatic) joint is called a
lower-pair connector and has surface
contact between two sliding bodies. A
prismatic joint can be formed with a
polygonal cross-section to resist rotation.
KAIST, Department of Mechanical Engineering 13
ME342 Mechanism Design by Prof. Seungbum Koo
1.7 DEGREES OF FREEDOM (DOF)
𝑛𝑛 = 12
Twelve pin joints and three slider joints
A slider joint also removes two DOF

𝐹𝐹 = 3 12 − 1 − 2 15 = +3

Common connection
(three bodies along one
physical pin)
= Two pin joints between
three bodies

KAIST, Department of Mechanical Engineering 14


ME342 Mechanism Design by Prof. Seungbum Koo
1.7 DEGREES OF FREEDOM (DOF)
 Types of planar joints

KAIST, Department of Mechanical Engineering 15


ME342 Mechanism Design by Prof. Seungbum Koo
1.7 DEGREES OF FREEDOM (DOF)
𝑓𝑓2 : Joints that permit two degrees of
 Types of planar joints relative motion across the joint such as a
roll-slide joint (or higher-pair joint)

f2 ??
KAIST, Department of Mechanical Engineering 16
ME342 Mechanism Design by Prof. Seungbum Koo
1.7 DEGREES OF FREEDOM (DOF)
 Types of planar joints

KAIST, Department of Mechanical Engineering 17


ME342 Mechanism Design by Prof. Seungbum Koo
1.7 DEGREES OF FREEDOM (DOF)
 Modified Gruebler’s equation

𝐹𝐹 = 3 𝑛𝑛 − 1 − 2𝑓𝑓1 − 1𝑓𝑓2

 𝑓𝑓1 : Joints that permit one degrees of relative motion across the joint
such as a pin joint (or lower-pair joint)

 𝑓𝑓2 : Joints that permit two degrees of relative motion across the joint
such as a roll-slide joint (or higher-pair joint)

KAIST, Department of Mechanical Engineering 18


ME342 Mechanism Design by Prof. Seungbum Koo
1.7 DEGREES OF FREEDOM (DOF)
 Special cases of Gruebler's equation
Overconstrained mechanisms
 𝐹𝐹 = 3 5 − 1 − 2 6 = 0

 𝐹𝐹 = 3 3 − 1 − 2 3 = 0
What does it mean? Just a paradox?

Gruebler's equation don't take into


consideration shape and size of the links
so it fails to calculate degree of freedom
in some cases

https://www.youtube.com/watch?v=GSaIt6AkHWc

KAIST, Department of Mechanical Engineering 19


ME342 Mechanism Design by Prof. Seungbum Koo
1.7 DEGREES OF FREEDOM (DOF)
 Special cases of Gruebler's equation

Passive or redundant degree of


freedom
 (1) 𝐹𝐹 = 3 4 − 1 − 2 3 − 1 1 = 2
 There is a roll-slide joint between 2 and 4

 (2) 𝐹𝐹 = 3 3 − 1 − 2 2 − 1 1 = 1
 If roller 4 is welded to arm 3

 (3) 𝐹𝐹 = 3 4 − 1 − 2 4 = 1
 If slipping is prevented by friction
All three cases has the same relationship between the input and output.

KAIST, Department of Mechanical Engineering 20


ME342 Mechanism Design by Prof. Seungbum Koo
1.8 ANALYSIS VERSUS SYNTHESIS
 Kinematic analysis: a given mechanism is investigated
based on the mechanism geometry. It includes position,
velocity and acceleration analyses.

 Kinematic synthesis: a process of designing a


mechanism to accomplish a designed task. It includes type
synthesis and dimensional synthesis.

KAIST, Department of Mechanical Engineering 21


ME342 Mechanism Design by Prof. Seungbum Koo
ME342 Announcement
 Next class
 Read textbook chapters 2.1-2.7

KAIST, Department of Mechanical Engineering 22


ME342 Mechanism Design by Prof. Seungbum Koo

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