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Lec - 3 Finding Degrees of Freedom
Lec - 3 Finding Degrees of Freedom
Lec - 3 Finding Degrees of Freedom
Where two links are paired in a way that the links have surface contacts between them, the pair is called a lower pair, or lower
pairs have surface contact between the links. For planar linkages, the revolute and prismatic pairs are basically used.
When the links are connected in a way that there exists ideally a point or a line contact between the links, the pair is called a
higher pair. The pair between the teeth of a pinion and a gear, or the cam and a flat face follower are some examples of higher
pair. The contact in reality can seldom be a point or a line, however, it may be interpreted that the area of contact is negligible
with respect to that in the case of lower pair. As the contact between two bodies is over a very small area, the contact may
admit both rotation about the point of contact and sliding of the point of contact. Thus it admits two motions or degrees of
freedom and restricts one degree of freedom.
The Kutzbach’s Equation: F = 3(n-1) – 2j – h, where, ‘n’ is the total number of links, ‘j’ is the total number of joints or pairs
which restrict two degrees of freedom each, and ‘h’ is the total number of higher pairs in the linkage.
Degree of freedom specifies the number of independent coordinates necessary to represent the configuration of the linkage.
Please note that Kutzbach’s equation specifies a generic idea of the degree of freedom, without taking into consideration the
shape, size, way of assembly of links etc. Therefore the effective degree(s) of freedom may be different from that predicted by
the Kutzbach’s principle if particular conditions are considered. We shall discuss some modifications.
Degree(s) of freedom continued
Let us count the links and joints in the mechanism at the instant R 3 Circular
shown. Roller
Cam
Please note that the cam (link 2) is connected to the oscillating 2 H 4 Follower
follower (link 4) through a circular roller, which is link 3 in the
diagram. R
R
1 1
In the figure shown,
the total number of links n = 4, Cam roller follower mechanism
the total number of joints, which take away two degrees of
freedom each, j = 3
the number of higher pair(s), h = 1 This mismatch is due to the fact that Kutzbach’s
equation does not have a provision to consider the
Applying the Kutzbach’s formula we get shape of a link. So it is modified as
F = 3*(4-1) - 2*3 – 1*1 = 2 F = 3 * (n-1) – 2 * j – h – Fr ;
Fr is the redundant degrees of freedom in a linkage.
You may note that at the point of contact both rolling and sliding are permitted, as it is a higher pair at the point of
contact. However, if you choose to arrest sliding or slipping at the point of contact, you may assume the presence of a
revolute pair at the point of contact in the first case and find the degree of freedom. However, if slipping is not permitted
at the point of contact in the case of the modified mechanism, the linkage will lose all degrees of freedom, or F will be
equal to 0 and the linkage will be a structure.
Let us see another example
4
Consider the 2R-2P 4 bar chain shown on the right.
For this n = 4, j = 4 (2 revolute and 2 prismatic pairs). Note that the 2
prismatic pairs are in line or have a common axis so that a solid prism can
be passed through both of them. 3
The degree of freedom is F = 3 * (4-1) – 2 * 4 = 1. So the linkage should
move. However, this is not correct. 1 1
The physical degree of freedom is the to and fro motion of the solid prism,
the link 4, which does not cause any angular motion of the links 2 and 3.
Hence, as such the linkage behaves as a structure. The to and fro motion
of link 4 is possible due to a special situation that the prismatic pairs are The Kutzbach’s formula is
placed in line. Had they not been so, the to and fro motion of the link 4 modified as
would not have been possible. So the degree of freedom is redundant. F = 3 * (n-1) – 2 * j – h – Fr ;
Fr is the redundant degrees of
If any motion of any link is possible without moving any other link in a freedom in a linkage.
linkage, the degree of freedom corresponding to that motion is considered
redundant.
Degree(s) of freedom continued
3 C
A E
Let us consider the linkage shown. In this the length of the links
AB, CD and EF is the same or AB = CD = EF. Let us find the
degree of freedom of the linkage.
4 5
2
In this n = 5, j = 6, or
F = 3 * (5 – 1) – 2 * 6 = 0
Kutzbach’s formula predicts that the linkage should not move B D F
or is a structure.
1
1 1
However according to our common sense the linkage should
move as at any instant the arms ABCD or CDFE will form So we modify the Kutzbach’s formula to write
parallelograms. So where is the difference? F = 3*(n- nr - 1) – 2*j – h – Fr.
In the above nr is the number of redundant links. In
The formula has no provision to consider the equality of the this example nr = 1.
links. In this case any one of the arms AB or CD or EF may be
taken to be redundant to get the effective degree of freedom.
1 1 1
Degree(s) of freedom continued
The linkage contains revolute pairs only. Please note that the points O,
A, B and P, at each of which more than two links have met. These
joints are called complex joints.
For a mechanism F = 1, therefore putting the value of F in the equation we get 3(n-1) – 2j = 1 from which we solve j
and find j = (3/2)n – 2. Hence these many joints each restricting two degrees of freedom are necessary to produce
constrained motion in a closed chain.
An important count is the number of joints that exceed the number of links. This is (3/2)n – 2 – n = (n/2) – 2. This
count is necessary to find the highest order of link in a closed chain.
An example:
Say we have a closed 6 bar chain. How many joints do we need to make it behave as a mechanism?
For the closed 6 bar chain to behave as a mechanism we need to have j = (3/2)*6 -2 = 7 joints. In this case the
number of joints required – the number of links = 7 -6 = 1. From this count we shall be able to find out the
maximum order of link in a closed 6 bar chain.
Please note that in an ‘n bar’ closed chain, there are at least n joints, i.e. n links connected by n joints will make all
the links binary.
You have seen that if a six bar chain is connected by 6 pairs, then all the links will be binary, however, the motion
will not be constrained. If we put this extra joint on a binary link, then the maximum order of link in the 6 bar chain
will be ternary.
Another example:
Suppose we have a closed 5 bar chain. How many joints are necessary to obtain constrained motion?
𝟏
ሷ
From Gr𝐮bler’s criterion, j = 𝟓 𝟐 or we need 5 full joints and a half joint. The half joint may be interpreted as a
higher pair as it restricts half the degrees of freedom compared with a full joint, which restricts 2 degrees of
freedom.
Let us draw the diagrams each of a closed 5 bar and a closed 6 bar chain.
5 bar closed
5 bar closed chain with 5 chain, with 5
revolute pair. Each link is binary, revolute pairs,
F = 3(5-1) -2*5 = 2. and 1 higher pair.
Physical degrees of freedom: the F = 1.
angles made by the two links
connected with the base with the
base.
Elements:
In planar linkages, we use primarily the revolute and the prismatic pairs. Each of these pairs is composed of two
elements, the pin and the hole for revolute pair and the solid and hollow prisms for the prismatic pair are thought as
elements.
1
Pin
These form the joint Hole
or the revolute pair 2
We may notice that the total number of elements of all the joints is 2*j, as each joint, revolute or prismatic,
consists of two elements. So the original Kutzbach’s formula may be rewritten as
F = 3(n-1) – e
where ‘e’ is the total number of elements. Using this concept we shall be able to find out different composition
of links in an ‘n’ bar closed chain, where ‘n’ is even, as otherwise, we shall have half joints or higher pairs.
An Example
Let us try to find out the condition of obtaining constrained motion of an ‘n’ bar closed planar chain, where ‘n’ is
even and each pair has two elements.
Let the chain have N2 binary, N3 ternary, N4 quaternary links and so on in the linkage. We shall have two conditions given
by two equations
We observe from (4) that the number of binary links should exceed the quantity (N4 + 2 N5 +……) by 4
Therefore, we understand that the minimum number of binary links in the case when all higher order links are absent is 4.
This means that the minimum number of binary links in an ‘n’ bar closed planar chain, where all the links are
connected by pairs having two elements is 4.
An Example:
Suppose we want to construct six bar closed chain, that gives constrained motion. What is the composition of the chain?
Solving we get N2 = 4 and N3 = 2. There are two equations and two unknowns, and so N2 and N3 will have unique
solutions.
There are two ways to connect the ternary links to obtain two different six bar chains. The chain, in which the ternary links
are directly connected is called the Watt’s chain, and where the ternary links are connected through a binary link is called
the Stephenson’s chain.
Watt’s chain, kinematic diagram
Watt’s Mechanism
Kinematic diagram of Stephenson’s chain
Let us find different compositions of a closed 8 bar chain to give constrained motion.
These equations have multiple solutions, as the number of equations is two but the unknowns are three.
Any other solution does not exist, as for N4 > 2, negative values of some links will appear.
Please note that it is possible to prove analytically that the minimum number of links to form a closed chain is 4 with
the concept of elements proposed. Therefore, you may also start the solution by choosing N2 = 4
Activities
1) Identify all the linkages with higher pairs from Tutorial sheet -1 and try to find the equivalent mechanisms
with lower pairs.
2) Identify all the six-bar linkages from the Tutorial sheet -1 and determine their types.
3) You should try to draw these conceptual kinematic diagrams of the different formations of the eight-bar
chain.
4) Find the example of an eight-bar linkage from the Tutorial sheet -1 and draw its kinematic diagram. With
which conceptual kinematic diagram does it match?
5) Using the same principle stated, try to find the formations of a ten-bar constrained planar linkage connected
by pairs, each with two elements.