Application of the Degree-of-Freedom

Equation
Mechanism Examples
Simple Examples:
MECHA
FIGURE
NISM

SliderCrank
Mechan
ism

FourBar
Mechan
ism

Planetar
y Gear
with a
slotted
lever

Degree-of Freedom

1.7. GRBLER'S EOUATION

General degree-of freedom equation can be simplified for certain special cases and
certain special conclusions can be derived. For the case that we are going to
analyse, we have one degree of freedom (F=1) planar (

=3) mechanisms that

contain only prismatic and revolute joints (f i=1,

fi=j ) . If we use these values in
the general degree-of freedom equation, we have:
3l-2j-4=0

(1)

This equation is known as Grbler's equation due to the person who first found it
(This equation was found much before the general degree-of-freedom equation.
We can conclude the following for the mechanisms that satisfy Grubler's equation:

1. The number of links in the mechanism must be even

l and j are integers, whatever the value of j, 2j is an even number. Also
(2j+4) is an even number. Since 3l = 2j + 4, in order this equation to be true,
3l must be even. Since 3 is an odd number, multiplication with an even
number can only give an even number. Therefore l must be even.

2. The number of binary links in the mechanism must be greater or equal

to four.
If a number of links contain k kinematic elements, let us denote this number
of links by lk . We can not have l1 (since there can be no link with one
kinematic element). The total number of links, l, in the mechanism will then
be equal to:
l=l2+l3+l4+l5+.....ln

(2)

3.
or
3l=3l2+3l3+3l4+3l5+.....3ln

(3)

4. (In this equation l2 refers to the number of links with 2 kinematic elementsi.e. number of binary links-, l3 is the number of links with three kinematic
elements - i.e. ternary links- ,etc.).
The number of kinematic elements in the mechanism will be:
2l2+3l3+4l4+.....nln=Number of Kinematic Elements

(4)

5. Since two kinematic elements are joined to form a kinematic pair:

2j = 2l2+3l3+4l4+.....nln

6. If we now substitute eqs 3 and 5 into Grubler's Equation (1):

(5)

l2-(l4+2l5+3l6+.....+(n-3)ln=4

7.
or
l2=4+P

8.
where
P = l4+2l5+3l6+.....+(n-3)ln

9. P is always a positive quantity. It can at most be zero, if all the links in the
mechanism are binary or ternary links. Hence, the number of binary links (l 2)
can at least be 4 if P = 0, otherwise it is greater than 4.

10. The number of kinematic elements in one link cannot be greater than
half of the number of links in the mechanism.

Consider a link (a) with i kinematic elements and let this number of
kinematic elements be the maximum that a link can have. A kinematic chain
using this link can be formed if we attach links of type (b) (see figure), and if
we join these links with links of type (c). In this case the number of
kinematic elements on link (a) will be a maximum. There will be 1 link of
type (a) i links of type (b) and (i-1) links of type (c). Then the number of links
in this mechanism will be:
l=1+i+(i-1)

or
i=l/2

i is the maximum number of kinematic elements on any one link when the
mechanism contains l links.