Degrees of Freedom

What is a Degree of Freedom

What is a degree of freedom?

The systems 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.
Degrees of freedom (DOF) are used to define a
systems mobility
The DOFs need to be correct to create an accurate
model
Quotes from (Norton 2004)

Degrees of Freedom of a Body

How many degrees of freedom (DOF) does a
completely unconstrained Body have?
Ans. 6 DOF
What are the DOFs?
There are translational and rotational DOFs
3 Translational (x, y, z)
3 Rotational (rot. about x, rot. about y, rot.
about z)

Example of a Vehicle Axis System in a

Body Form

Image from (Gillespie 1992)

Degrees of Freedom Example

Each model will have its own unique set of equations of
motion which need to be balanced in order to produce
an accurate model
We can set up a model by making appropriate
assumptions
Care must be taken to make sure that the model can
move and is constrained appropriately to give the
desired output
For example a single bar is modelled in a two
dimensional plane, how many DOF does it have?

Degrees of Freedom Example

For example a single bar is modelled in a two dimensional
space, how many DOF does it have?
y

Answer:
3 DOF
2 Translational
1 Rotational
x

Degrees of Freedom Example

Another example, this Pendulum, how many DOF does it
have?

Answer:
1 DOF
0 Translational
1 Rotational

Joint Constraints
All bodies have six degrees of freedom to start with
(three translational and three rotational)
When modelling a particular scenario we lock these
degrees of freedoms to constrain the relative motions
of the bodies
Each joint which is used has a unique set of constraints
which means they can be used to model various degree
of freedom scenarios
Using the characteristics of each joint allows for the
replication of real world scenarios

Joint Constraints (Continued)

Spherical Joint

Cylindrical Joint

Planar Joint

Revolute Joint

Translational Joint

Universal Joint

Example Joint Constraints

Cylindrical Joint
Fixed Joint
Planar Joint
Rack-and-pinion Joint
Revolute Joint
Spherical Joint
Translational Joint
Universal / Hooke Joint

Translational
Constraint
2
3
1
0
3
3
2
3

Rotational
Constraint
2
3
2
0
2
0
3
1

Atpoint Joint Primitive

Inline Joint Primitive
Inplane Joint Primitive
Orientation Joint Primitive
Parallel Joint Primitive
Perpendicular Joint Primitive

3
2
1
0
0
0

Motion (Translational)
Motion (Rotational)
Coupler

1
0
0

Constraint Element

0
0
0
1
0
0
0
0

Total
Constraint
4
6
3
1
5
3
5
4

0
0
0
3
2
1

0
0
0
0
0
0

3
2
1
3
2
1

0
1
0

0
0
1

1
1
1

Constraint

Take Care However!

It is easy to over or under constrain a model to
replicate a real world scenario
This will introduce errors into the model making
it inaccurate
Sometimes this is a compromise that we have to
make, but we need to know that we have made
it and account for it

Calculating Degrees of Freedom

To calculate the total DOFs of a system the Grueblers equation
can be utilised (there are other calculations available)
This equation takes into account all of the parts of the system
minus the constraints and calculates a final DOF
The equation is:
Total DOFs = 6 (No. of Parts - 1) (No of Constraints)
Total DOF of each part
i.e. 6 DOFs
Count the number of parts in your
model (including ground) and minus
one (the minus one represents
the ground)

Count the total number

of constraints in the model
due to joints and motions

TASK
Build a universal spreadsheet that will
calculate the DOF in your model.
Remember: Total DOFs = (No. of Parts - 1) (No of Constraints)
Cylindrical Joint
Fixed Joint
Planar Joint
Rack-and-pinion Joint
Revolute Joint
Spherical Joint
Translational Joint
Universal / Hooke Joint

Translational
Constraint
2
3
1
0
3
3
2
3

Rotational
Constraint
2
3
2
0
2
0
3
1

Atpoint Joint Primitive

Inline Joint Primitive
Inplane Joint Primitive
Orientation Joint Primitive
Parallel Joint Primitive
Perpendicular Joint Primitive

3
2
1
0
0
0

Motion (Translational)
Motion (Rotational)
Coupler

1
0
0

Constraint Element

0
0
0
1
0
0
0
0

Total
Constraint
4
6
3
1
5
3
5
4

0
0
0
3
2
1

0
0
0
0
0
0

3
2
1
3
2
1

0
1
0

0
0
1

1
1
1

Constraint

Degrees of Freedom Example

Let us consider the degree of freedom of a four bar
linkage system
We want to perform a kinematic analysis of the system
i.e. we are not considering the forces acting in the
system
REV
REV

M
REV

REV

Degrees of Freedom Example

(continued)
To undertake a kinematic analysis we need to achieve a
DOF count of zero (for dynamic analysis the count will
be greater than zero)
To achieve this scenario we have to carefully consider
the joint types
REV

REV

M
REV

REV

Example 1 DOF Count

This system uses all revolute joints and has a total DOF
which is negative
This scenario is physically impossible in a real scenario
Also not having a zero DOF means the model is statically
indeterminate
REV

REV

Parts
Rev
Motion
M

6 x (4-1) = 18
-5 x 4 = -20
-1 x 1 = -1

Total DOF
REV

REV

= -3

Example 2 DOF Count

This example shows a joint configuration where there is a
zero DOF because another part and joint have been
included
Although a DOF total of zero is reach this is not good
modelling practise
REV

REV

SPH

M
REV

REV

Parts
Rev
Sph
Motion

6 x (5-1) = 24
-5 x 4 = -20
-3 x 1 = -3
-1 x 1 = -1

Total DOF

=0

Example 3 DOF Count

This example shows a joint configuration where the DOF
total is zero
The solution is not immediately apparent and takes practise
This is the ideal scenario to reach with your models
UNI

SPH

M
REV

REV

Parts
Rev
Sph
Uni
Motion

6 x (4-1) = 18
-5 x 2 = -10
-3 x 1 = -3
-4 x 1 = -4
-1 x 1 = -1

Total DOF

=0

How Many DOFs does the

Trebuchet Model Have?
Consider all of the movements of the model
and work it out theoretically
Import it into ADAMS again and see what
happens
You have to
consider all the
relative movement
of the system that
are needed

What is the DOF Count?

Using what we have discussed, what is the DOF
count?
REVOLUTE JOINT
01

(LOCATION 01, 04)

08

BODY/GROUND
01
05

02

02

03

07
04

04

ROTATIONAL
MOTION

11

05

03

12

SPEHRICAL JOINT
(LOCATION 03, 06, 07)

Z
06

UNIVERSAL JOINT
(LOCATION 08)

I will ask for answers next week

References
Gillespie T. (1992), Fundamentals of Vehicle Dynamics. Warrendale (USA):
Society of Automotive Engineers
MSC ADAMS (2012), Trebuchet model example for Adams/View that uses a
STEP function for sling release [online] available from
http://simcompanion.mscsoftware.com/infocenter/index?page=content&
id=KB8020123&actp=search&searchid=1352054589140 [4th November
2012]
Norton R. (2004), Design of Machinery An Introduction to the Synthesis and
Analysis of Mechanisms and Machines. 3rd Edition. London: McGraw Hill