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ME 301 METU ME

Degree of a joint
the degree-of a joint is the number of links
connected at the jjoint minus one.

Binary Joint

Ternary Joint

Quarternary Joint

!!!! Do not confuse with the degree of freedom of a joint

Note that the number of joints at that connection is equal to the
degree of a joint
joint.
Degree of freedom of a joint is the number of independent
parameters required to define the position of one link relative to the
other connected by that joint.
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Mechanisms

Link dimensions

ME 301 METU ME

Mechanisms

Degree of freedom of a
mechanism
h i
is the number of independent
parameters required to define
the position of every link in that
mechanism.
Reading Assignment: upto page 33 (End of Chapter 1) by

October 13 08
08
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ME 301 METU ME

C
b
c

B
a

B
c
C
b
d

A
a

ME 301 METU ME

Degree of freedom of a mechanism:

Depends
epe ds o
on:
The degree of freedom of space
The degree of freedom of the joints
The number of links and joints in the
mechanism
The distribution of links and joints within the
mechanism
p
on
Does not depend
The shape of the links
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ME 301 METU ME

Determination of the Degree of freedom

Let

= Degree-of-freedom of space

= 3 for planar and spherical space

= 6 for spatial space

A = Number of links in a mechanism

(including the fixed link).

j = Number of jjoints in the mechanism

f = Degree-of-freedom of the ith joint
F = Degree-of- freedom of the mechanism

ME 301 METU ME

Consider four links in plane motion

For 4 links 4*3=12 parameters are needed

For A links (with one link fixed):

(A -) parameters are required. This is the number of parameters needed without joints (constraints)
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ME 301 METU ME

With the joints shown:

Link 2

3Parameters

Link 3

2 Parameters (Cylinder in slot joint has 2 Dof, constrains 1 Dof in plane motion).

Li k 4
Link

1P
Parameter
t ((revolute
l t JJoints
i t h
has 1 D
Dof,
f constrains
t i 2D
Doff iin Pl
Plane motion)
ti )

Link5

1 Parameter (revolute Joints has 1 Dof, constrains 2 Dof in Plane motion)

With these 3 joints 1+2+2 = 5 freedoms are constrained

Therefore now we need (12-5) 7 parameters to determine the position of these 4 links
If the joint freedom is fi, then that joint constrains
j

i =1

i =1

( f i ) = j f i

fi freedoms. j joints will constrain:

freedoms
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ME 301 METU ME

Degree of Freedom of a mechanism,

mechanism F

F = Degree of freedom without constraint Number

Number of constraints (Eq
(Eq.l.c)
l c)
j

F = ( A 1) ( j f i )
i =1

or

F = ( A j 1) + f i
i =1

General Degree-of-freedom equation

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ME 301 METU ME

Example V Engine or V
ExampleV-Pump
Pump

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ME 301 METU ME

Example

Schematic Drawing

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Example
Virtual Model

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ME 301 METU ME

6
10

11
1
12

13

Inverted Slider-Crank Mechanism

Drawn by: Eres Sylemez
Checked by: Eres Sylemez
Date September 15 2004
METU

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ME 301 METU ME

Example

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Example: Excavator

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Example Folding Chair

Example-Folding

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Example

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Example
Hinge
US3673635
1972

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ME 301 METU ME

Example

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ME 301 METU ME

Example:
ADJUSTABLE STROKE PUMP
PUMP.
The mechanism shown is an adjustable stroke pump. The mechanism is driven by an electric
motor attached to the input crank to impart a translating motion to the piston. The adjustment
on the amount of stroke of the ppumpp is made byy a screw (not
(
shown)) which changes
g the
position of the pin A.

Cs
5

P
P

Cs
3

R 2 R

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ME 301 METU ME

Example
Three Gear Drive

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ME 301 METU ME

Example
Landing Gear door with controlled Kinematic Control
(US 2005/0211848)

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ME 301 METU ME

Example

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Mechanisms

Example (Radial Misalignment Coupling)

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Example

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Linked Multi-Segment Landing Gear Door for Aircraft

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ME 301 METU ME

Example Car Suspension

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ME 301 METU ME

Example:
Some spatial mechanisms

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