Theory of Machines 2

DEGREES OF FREEDOM ( DOF or MOBILITY):

- Briefly touched on where pair types discussed .

- The study of mobility is fundamental to Kinematics.
- Mobility = No of D O F a mechanism has.

Mobility is the minimum number of independent parameters required to specify the location of every
link within a mechanism.
Diagram 11

In the above drawing of a planar system there are initially two links with 3 degrees of freedom each

Link 1 has 3DOF x1, y1, β 1,

Link 2 has £DOF x2, y2, β 2
thus two non-connected links in a two dimensional system have 6DOF in total

If 1, 2 joined using a 1 DOF joint (rotational motion only allowed) then x1, y1, β 1, β 2, are the
variables describing the system giving ∑ DOF = 4

For this system then two links with 3DOF each have 4DOF when linked

A 1 DOF joint removes 2 DOF from a planar system

A 2 DOF joint removes 1 DOF from the same system
See a 2 DOF joint below
Diagram 12
A planar system contains “n” links in total, each of which has 3 DOF. For it to be a mechanism one
link must be fixed or connected to the ground – otherwise motion cannot be described

M = Mobility = Number DOF = 3n – 3 = 3(n-1) (As one link is the ground – it has no DOF)

The following equation is used to describe mobility in 2D or planar systems:

M = 3(N-1) – 2 f1 – f2

Where: n = total number of links

M = DOF
f1 = number of 1DOF joints
f 2 = number of 2 DOF joints

This is known as GRUBLER’S EQUATION and is for mobility of planar systems.

M=0 ⇒ Motion impossible - statically determinate

M=1 ⇒ Single input /monitoring necessary
M=2 ⇒ Double input/output necessary
M = -1 ⇒ Statically indeterminate structure

STATICALLY INDETERMINATE: This is a body, or rigid body of elements that has more
external supports, ties or constraints than are needed to maintain equilibrium – it cannot move and
more than one element is responsible for “locking up” the mechanism in this way. It is therefore not
possible to say which element is doing what proportion of the “locking up”. The body of elements will
behave as a truss and not as a mechanism – it cannot move.

STATICALLY DETERMINATE BODIES: Are ones that are supported by the minimum number of
constraints necessary to ensure an equilibrium configuration, i.e., if you remove one support the truss
will become a mechanism, capable of movement.

REDUNDANT SUPPORTS: These are supports that can be removed from a statically indeterminate
structure without destroying the equilibrium condition of the body.

A joint connecting more than two links is special and is counted as X – 1 joints where X is the number
of links.

Example 1
M = 3(N-1) – 2 f1 – f2
N = 3
f1 = 3
f2 = 0
M = 3(N-1) – 2 f1 – f2
M = 3(3-1) – 2(3) = 0
⇒ Statically determinate

Diagram 13
Example 2
M = 3(N-1) – 2 f1 – f2
N = 4
f1 = 5
f2 = 0
M = 3(N-1) – 2 f1 – f2
M = 3(4-1) – 2(5) = – 1
⇒ Statically indeterminate
Diagram 14

Example 3
M = 3(N-1) – 2 f1 – f2
N = 4
f1 = 4
f2 = 0
M = 3(N-1) – 2 f1 – f2
M = 3(4-1) – 2(4) = 1
⇒ Mechanism
Diagram 15

Example 4
M = 3(N-1) – 2 f1 – f2
N = 5
f1 = 4
f2 = 0
M = 3(N-1) – 2 f1 – f2
M = 3(5-1) – 2(5) = 2
⇒ Mechanism but requires a double input or output
Diagram 16
Example 5
M = 3(N-1) – 2 f1 – f2
N = 3
f1 = 2
f2 = 1
M = 3(N–1) – 2 f1 – f2
M = 3(3 –1) – 2(2) –1 = 1
⇒ Mechanism
Diagram 17

Example 6
M = 3(N-1) – 2 f1 – f2
N = 4
f1 = 3
f2 = 1
M = 3(4 –1) – 2(3) – 1 = 2
⇒ Mechanism with 2DOF assuming cam both slips and rolls. If the cam rolled only with no slippage
then the mechanism would have one degree of freedom. Alternatively if there was no rotation and
slippage only, as in a slider-crank mechanism, then it would also be a one degree of freedom system
Diagram 18
Example 7
M = 3(N-1) – 2 f1 – f2
N = 7
f1 = 8
f2 = 0
M = 3(7 –1) – 2(8) – 0 = 2
⇒ Mechanism with 2DOF. Centre joint A is counted twice.
Diagram 19

MOBILITY EQUATION INCONSISTENCY

No general rule can be given as to when the mobility equation is incorrect but problems arise when
several links in a mechanism are parallel.

M = 3(N-1) – 2 f1 – f2
N = 6
f1 = 7
f2 = 0
M = 3(6 –1) – 2(7) – 0 = 1
⇒ Mechanism with 1 DOF
as centre joint counted twice - CORRECT.
Diagram 20

M = 3(N-1) – 2 f1 – f2
N = 5
f1 = 6
f2 = 0
M = 3(5 –1) – 2(6) – 0 = 0
⇒ Mechanism with no DOF which is
INCORRECT as it has 1 DOF
Diagram 21

3-DIMENSIONAL DEGREES OF FREEDOM.

Kutz-Bach Criterion is a 3D form of Grubler’s equation. Grubler’s equation as we said earlier deals
only with mobility of planar systems. In a 3D system each link now has a possible 6 degrees of
freedom – 2 in each plane. Again one link must be fixed giving a total 6(n-1) DOF. Each joint type
removes a different number of degrees of freedom from the system giving the equation below:

M =6(n-1) – 5f1 – 4f2 – 3f3 – 2f4 – f5

Where:

f1 = Number of 1 DOF joints

f2 = Number of 2 DOF joints
f3 = Number of 3 DOF joints
f4 = Number of 4 DOF joints
f5 = Number of 5 DOF joints