M 1B Degrees of Freedom, Inversion

DEGREES OF FREEDOM (DOF) OR MOBILITY
• A mechanical system’s mobility (M) can be classified according to

the number of degrees of freedom (DOF) that it possesses. The
system’s DOF is equal to the number of independent parameters
(measurements) that are needed to uniquely define its position in
space at any instant of time. Note that DOF is defined with respect to
a selected frame of reference. Now allow the pencil to exist in a
three-dimensional world. Hold it
above your
desktop and move it about. You now
will need six parameters to define its
six DOF. One possible set of
parameters that could be used is three
lengths, (x, y, z), plus three angles (θ,
φ, ρ). Any rigid body in three-space
has six degrees of freedom. Try to
identify these six DOF by moving your
pencil or pen with respect to your
desktop.
DETERMINING DEGREE OF FREEDOM OR
MOBILITY
• The concept of degree of freedom (DOF) is fundamental to both
the synthesis and analysis of mechanisms. We need to be able to
quickly determine the DOF of any collection of links and joints that
may be suggested as a solution to a problem. Degree of freedom
(also called the mobility M) of a system can be defined as:
• Degree of Freedom
the number of inputs that need to be provided in order to create a
predictable output;
• also:
the number of independent coordinates required to define its
position.
Grubler’s Criterion
• M = 3L − 2J − 3G…………………….(i)
where: M = degree of freedom or mobility
L = number of links
J = number of joints
G = number of grounded links
• Note that in any real mechanism, even if more than one
link of the kinematic chain is grounded, the net effect will
be to create one larger, higher-order ground link, as there
can be only one ground plane. Thus G is always one, and
Gruebler’s equation becomes: M = 3(L −1) − 2J………………(ii)
GRUBLER’S CRITERION
• Number of degrees of freedom of a mechanism is given by
• F = 3(n-1)-2l-h. Where,
• F = Degrees of freedom
• n = Number of links in the mechanism.
• l = Number of lower pairs, which is obtained by counting the
number of joints. If more than two links are joined together
at any point, then, one additional lower pair is to be
considered for every additional link.
• h = Number of higher pairs
Determining Degree of Freedom
• Gruebler’s Equation
• Based on the above reasoning, Gruebler’s Equation is:
M=3L-2J-3G (2.1a)

L = number of links
J = number of joints
G = number of grounded links
• Note that in any real mechanism, even if more than one link of the
kinematic chain is grounded, the net effect will be to create one
larger, higher-order ground link, as there can be only one ground
plane. Thus G is always one, and Gruebler's equation becomes:
M=3(L-1)-2J (2.1b)
6
Determining Degree of Freedom
• Kutzbach’s Modification of Gruebler’s Equation
• Kutzbach’s Modification of Gruebler’s Equation is:
M=3(L-1)-2J1-J2

L = number of links
J1 = number of 1 DOF (full) joints
J2 = number of 2 DOF (half) joints (examples include pin-in-slot joints)
• The value of J1 and J2 in these equations must still be carefully determined

to account for all full, half, and multiple joints in any linkage.
• Multiple joints count as one less than the number of links joined at that
joint and add to the "full" (J1) category.
7
Examples - DOF
• F = 3(n-1)-2l-h
• Here, n = 4, l = 4 & h = 0.
• F = 3(4-1)-2(4) = 1
• I.e., one input to any one link will result in definite
motion of all the links.
• F = 3(n-1)-2l-h
• Here, n = 5, l = 5 and h = 0.
• F = 3(5-1)-2(5) = 2
• I.e., two inputs to any two links are required
to yield definite motions in all the links.
F = 3(n-1)-2l-h
Here, n = 6, l = 7 and h = 0.
F = 3(6-1)-2(7) = 1
I.e., one input to any one link
will result in definite motion of
all the links.
• F = 3(n-1)-2l-h
• Here, n = 6, l = 7 (at the intersection of 2, 3
and 4, two lower pairs are to be considered)
and h = 0.
• F = 3(6-1)-2(7) = 1
• F = 3(n-1)-2l-h
• Here, n = 11, l = 15 (two lower pairs at the
intersection of 3, 4, 6; 2, 4, 5; 5, 7, 8; 8, 10,
11) and h = 0.
• F = 3(11-1)-2(15) = 0
(a)
F = 3(n-1)-2l-h
Here, n = 4, l = 5 and h = 0.
F = 3(4-1)-2(5) = -1
I.e., it is a structure
(b)
F = 3(n-1)-2l-h
Here, n = 3, l = 2 and h = 1.
F = 3(3-1)-2(2)-1 = 1
(c)
F = 3(n-1)-2l-h
Here, n = 3, l = 2 and h = 1.
F = 3(3-1)-2(2)-1 = 1
(a)
F = 3(n-1)-2l-h
Here, n = 4, l = 5 and h = 0.
F = 3(4-1)-2(5) = -1
I.e., it is a structure
(b)
F = 3(n-1)-2l-h
Here, n = 3, l = 2 and h = 1.
F = 3(3-1)-2(2)-1 = 1
(c)
F = 3(n-1)-2l-h
Here, n = 3, l = 2 and h = 1.
F = 3(3-1)-2(2)-1 = 1
Exercise
• Compute the DOF of the following examples
with Kutzbach's equation.
15
Exercise
16
Kinematic Inversion
INVERSIONS OF MECHANISM
• 1.Four Bar Chain
• 2.Single Slider Crank
• 3.Double Slider Crank

Inversions of Single Slider Crank Chain
As there are four links, fixing each link in turn,

four inversions can be obtained.
In the first inversion, where the link with one

revolute pair and one prismatic pair is fixed.
Example: 1) I.C. Engine mechanism, in which
the fourth link piston is the input and the crank is
output. 2) In air compressor, in which the second
link crank is the input and the piston is the output.
Single Slider Crank Chain
In a four bar kinematic chain there are four revolute
pairs. If one of this pairs is changed as prismatic/sliding
pair that kinematic chain is called single slider crank
chain.
Link 1 – Fixed Link Link 3 – Connecting Rod

Link 2 – Crank Link 4 – Slider / Piston
LINK1 IS FIXED
SLOT CRANK SHAFT
CRANK
PISTON
APPLICATION:RECIPROCATING PUMPS,RECIPROCATING
COMPRESSORS,OSCILLATING CYLINDER ENGINE
Second Inversion of Single Slider Crank Chain
Second link in the original chain, ie., crank with two
revolute pairs is fixed, second inversion is obtained.
2
3
1
4
Link 2 is fixed
Examples for the Second Inversion:
1. Whitworth Quick Return Mechanism
2. Rotary Engine Mechanism

Third Inversion of Single Slider Crank Chain
Third link of the original chain, ie., Connecting Rod
with two revolute pairs (length of this link is more than
crank) is fixed to obtain third inversion.
Example: 1. Oscillating Cylinder Mechanism

2. Crank and slotted lever quick return
mechanism
Crank and Slotted Lever Quick Return Mechanism
Crank and slotted lever quick
return motion mechanism
Application of Crank and slotted lever
quick return motion mechanism
P
C
B
A
Fourth Inversion of Single Slider Crank Chain
In the original chain, if the fourth link with revolute
pair and prismatic pair is fixed, then the fourth inversion is
obtained.
Example : Hand Pump
First Inversion of Double-Slider Crank Chain
Second Inversion of Double-Slider Crank
Chain

M 1B Degrees of Freedom, Inversion

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DEGREES OF FREEDOM (DOF) OR MOBILITY

• A mechanical system’s mobility (M) can be classified according to

where: M = degree of freedom or mobility

where: M = degree of freedom or mobility

• The value of J1 and J2 in these equations must still be carefully determined

• 2.Single Slider Crank

• 3.Double Slider Crank

As there are four links, fixing each link in turn,

In the first inversion, where the link with one

Link 1 – Fixed Link Link 3 – Connecting Rod

SLOT CRANK SHAFT

2. Rotary Engine Mechanism

Example: 1. Oscillating Cylinder Mechanism

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