kinematics_lec_1_2

kinematics_lec_1_2 - 1.2 Mobility The Mobility M defines...

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After-notes in Kinematics Y.M. Ram 5 1.2 Mobility The Mobility M defines the number of degrees of freedom of a system. For 1 M the system is a mechanism with M degrees of freedom. If 0 = M the system is a statically determinate structure and generally no relative motion between the links is possible. If 0 < M then the system is a statically indeterminate structure . The mobility may be determined by the Grubler’s equation () 2 1 2 1 3 f f n M = , (1.2.1) where n is the total number of links (including the ground) 1 f is the number of one-degree-of freedom joints 2 f is the number of two-degree-of freedom joints Pure rotation joints, pure sliding joints, and pure rolling contact joints are of 1 f category. Rolling & sliding contact joints are 2 f type. Example 1.2.1 Using the Grubler’s equation determine the mobility for the devices shown in Figure 1.2.1 Solution (a) () ( ) 0 0 3 2 1 3 3 = = M . A determinate structure. (b)
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This note was uploaded on 12/02/2011 for the course ME 4133 taught by Professor Ram during the Fall '06 term at LSU.

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kinematics_lec_1_2 - 1.2 Mobility The Mobility M defines...

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