Chapter 2:

Kinematics Fundamentals

Theory of Machines
2.1 DOF or Mobility
Mobility is classified according to
systems DOF.
DOF is equal to no. of independent
parameters needed to uniquely define
its position in space at any instant of
time.

Theory of Machines
DOF

Theory of Machines
2.2 Types of Motion
Pure Rotation
Pure Translation
Complex Motion

Theory of Machines
2.3 Links
Links building blocks
Node attachment points
Binary link two nodes
Ternary link three nodes
Quaternary link four nodes

Theory of Machines
Link Classification
Ground fixed w.r.t.
reference frame
Crank pivoted to ground,
makes complete revolution
Rocker pivoted to
ground, has oscillatory
motion
Coupler - link has
complex motion, not
attached to ground

Theory of Machines
Joint
A connection between two or more links (at
their nodes), which allows some motion
between the connected links
Joints (also called kinematic pairs) can be
classified in several ways
By the type of contact between the elements i.e.
line, point, or surface
By the number of degrees of freedom allowed at
the joint
By the type of physical closure of the joint: either
force or form closed
By the number of links joined (order of the joint)

Theory of Machines
Joint: Type of contact
Lower pair: joints
with surface contact
(pin joint).
Higher pair: joints
with point or line
contact. (Cylinders)

Theory of Machines
Joint: Lower pair joints

Theory of Machines
Joint: No. of degrees of freedom
One-freedom: also
called full joints (i.e.,
full = 1 DOF)
Two-freedoms joint:
also called half joint
(Half also refers to
more than two DOF)

Theory of Machines
Joint: No. of degrees of freedom

Theory of Machines
Full Joint Examples
Linear slider
Threaded nut
Tire on dry ground

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Half Joint Examples
Collar on rod
Tire on ice - friction determines the
DOF

Slippage Occurs

Theory of Machines
Joint: Physical closure
Form closed: when the design of the joint is
holding one link in a specific place
Force closed: when a force (e.g. gravity) is
tending the link to be closed

Theory of Machines
Joint: No. of links joined
The order of the joint is defined as the
number of links joined minus one
It takes two links to make a single
joint; thus the simplest joint
combination of two links has joint
order one.

Theory of Machines
Revision of definitions
A kinematic chain: An assemblage of
links and joints, interconnected in a
way to provide a controlled output
motion in response to a supplied input
motion
A Mechanism: A kinematic chain in
which at least one link has been
grounded or attached to the frame of
reference (which itself may be in
motion)
Theory of Machines
Revision of definitions
A Machine: A combination of resistant
bodies arranged to compel the
mechanical forces of nature to do work
accompanied by determinate motions.

Theory of Machines
Kinematic Chain
Open
Closed

Theory of Machines
2.4 Degree of Freedom or Mobility
The number of inputs
that need to be provided
in order to create a
predictable output
Also
The number of
independent coordinates
required to define its
position
Theory of Machines
Degree of freedom in Planar
Mechanism
For determining DOF of a system, one
must account for the number of links
and joints
The DOF of any assembly of links can
be predicted from the Gruebler
condition
Any link in a plane has 3 DOF
A system of L unconnected links have
3L DOF

Theory of Machines
DOF
Connecting the links by a full joint, y1
and y2 are combined as y, and x1
and x2 are combined as x. This
remove two DOF, leaving four DOF
Half joint removes only one DOF from
the system, leaving the system of two
links connected by a half joint with a
total of five DOF.

Theory of Machines
DOF
When any link is grounded or attached to
the reference frame, all three of its DOF will
be removed
This reasoning lead to Grueblers equation
M = 3L 2J 3G
Where: M = degree of freedom or mobility
L = number of links
J = number of joints
G = number of grounded links

Theory of Machines
DOF
In any real mechanism, there is only
one ground link. Thus G is always one,
and Grueblers equation becomes:

= 3 2 3
= 3 1 2

Theory of Machines
DOF
The value of J must reflect the value of all
joints i.e. half joints in the mechanism.
The Grueblers equation can be modified to
Kutzbachs equation in this form:
= 3 1 21 2

Where: M = mobility
L = number of links
J1 = number of 1 DOF (full) joints
J2 = number of 2 DOF (half) joints

Theory of Machines
DOF
The value of J1 and J2 in these equations must still
be carefully determined to account for all full, half
and multiple joints in any linkage.
Multiple joints count as one less than the number of
links joined and add to the full (J1) category
The DOF of any proposed mechanism can be quickly
ascertained from this expression before investing
any time in more detailed design
This equation has no information about link size or
shapes, only their quantity

Theory of Machines
Determine DOF ?

Theory of Machines
Determine DOF ?

Theory of Machines
Determine the DOF ?

Kinematic diagram
1. Identify the Ground
2. Identify the links
3. Identify the joints
4. Calculate Mobility
= 3 1 2

Theory of Machines
Class Activity
Calculate the degrees of freedom of the
mechanisms (Dump truck) shown in Figure (b).
Figure (a) is an application of the mechanism.
Hint: M 3( L 1) 2J1 J 2

= 4, 1 = 4 , , , , 2 = 0
M=3 41 2410=1

Theory of Machines
DOF in Spatial (3D) Mechanisms
The approach used to determine the mobility
of a planar mechanism can be easily
extended to three dimensions
Each unconnected link in three-space has 6
DOF, and any one of the six lower pairs can
be used to connect them, as can higher
pairs with more freedom
A one-freedom remove 5 DOF, a two-
freedom joint remove 4 DOF
Grounding a link removes 6 DOF
We will limit our study to 2-D (Planar)
mechanisms

Theory of Machines