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• the degree-of a joint is the number of links
connected at the oint 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 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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echanisms
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echanisms
Degree of freedom of a
mec an sm
is the number of independent
the position of every link in that
mechanism.
Readin Assi nment: u to a e 33 End of Cha ter 1 b October 13 ‘08
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C
b
B c
a
A D
θ
d
B
b
C
θ
a
φ
ED
e
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• De ends on:
– The degree of freedom of space
–
– The number of links and joints in the
mechanism – The distribution of links and joints within the
mechanism
Does not de end onThe shape of the links
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Let
= Degree-of-freedom of space:= 3 for planar and spherical space
= 6 for spatial space
= Number of links in a mechanism (including the fixed link).
j = Number of joints in the mechanism
f = Degree-of-freedom of the ith joint
F = Degree-of- freedom of the mechanism
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Consider four links in plane motion
For 4 links 4*3=12 parameters are needed
For links (with one link fixed):
( -ı) parameters are required. This is the number of parameters needed without joints (constraints)
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With the oints shown:
Link 2 3Parameters
Link 3 2 Parameters (Cylinder in slot joint has 2 Dof, constrains 1 Dof in plane motion).
n arame er revo u e o n s as o , cons ra ns o n ane mo on
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
j j
Therefore now we need (12-5) 7 parameters to determine the position of these 4 links
If the joint freedom is f i, then that joint constrains – f i freedoms. j joints will constrain:
∑ ∑= =
−=−i i
ii f j f 1 1
)( λ λ freedoms
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,
. .
j
F j f ii
= − − −=
∑λ λ( ) ( ) 11
or j
i
i
= − − +=1
General Degree-of-freedom equation
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- -
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Schematic Drawing
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Virtual Model
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6
4
2
3
10
9
8
7
1
12 13
Inverted Slider-Crank Mechanism
Drawn by: Eres SöylemezChecked b : Eres Sö lemez
5
Date September 15 2004METU
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Example
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Example: Excavator
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-
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Hinge
1972
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Example:
.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 um is made b a screw not shown which chan es the
position of the pin A.
5
1C
s
P
3
Cs
2RR
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Example
Three Gear Drive
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Example
Landing Gear door with controlled Kinematic Control
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E l
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Example
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echanisms
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Example
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Example
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Linked Multi-Segment Landing Gear Door for Aircraft
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Example:
Some spatial mechanisms
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