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3 dof
Pure rotation
Pure translation (x direction)
• Pure translation (y direction)
Number of DOF ?
Structure design
0 dof
(no possible
motion)
1 dof
1 dof
Piston mechanism
Number of DOF ?
DOF (mobility) calculation
M = 3(L – 1) – 2J1 – J2
Kutzbach equation:
M: mobility (number of d.o.f)
L: number of link (jumlah batang)
J1: number of joint type-1 (reducing 2 d.o.f)
J2: number of joint type-2 (reducing 1 d.o.f)
Joints example
L J1 J2 M
Pin (revolute) 2 1 0 +1
Slider 2 1 0 +1
Rolling Contact 2 1 0 +1
Roll-Slide Contact 2 0 1 +2
Gear Contact 3 2 1 +1
Belt and pulley 4 4 0 +1
L = # links, J1 = #pins + #sliders, J2 = #roll-slides, M = d.o.f.
The use of knowing DOF
Knowing certain mechanism motion (position, velocity,
acceleration)
Mengetahui gerakan suatu mekanisme tertentu (posisi,
kecepatan, percepatan) titik tertentu -> gaya dll
To design a particular mechanism that can produce
particular motion
Mendesain sistem mekanisme yang dapat menghasilkan
gerakan tertentu
Tractor with Loader
Biomechanics
17
Walking motion analysis (Gait)
5-Segment Model 7-Segment Model
Motion
information
Force