ME 352 - Mobility Degree of Freedom Lecture 2 Union College Mechanical Engineering MER 312 Dynamics and Kinematics(of Mechanisms AT From Last Lecture

# ME 352 - Mobility Degree of Freedom Lecture 2 Union College...

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Union College Mechanical Engineering MER 312: Dynamics and Kinematics (of Mechanisms) / AT Mobility/ Degree of Freedom Lecture 2
Union College Mechanical Engineering MER 312: Dynamics and Kinematics (of Mechanisms) / AT Joints restraint and allow motion between links From Last Lecture: Kinematic pairs
Union College Mechanical Engineering MER 312: Dynamics and Kinematics (of Mechanisms) / AT Today’s Agenda ¾ Definition Degrees of Freedom ¾ Determining Degrees of Freedom/mobility of a mechanism ¾ Mechanisms and Structures ¾ Mobility Analysis of Mechanisms
Union College Mechanical Engineering MER 312: Dynamics and Kinematics (of Mechanisms) / AT A link free in space has six DOF since it is free to translate in each of the X, Y, and Z directions and to rotate about each of the axes. Simple Examples In planar linkages, motion is restricted to the XY plane. The DOF is hence reduced from six to three If we attach this link to the ground with a single DOF pair, such as a turning pair, then its DOF is further reduced from three to one
Union College Mechanical Engineering MER 312: Dynamics and Kinematics (of Mechanisms) / AT Mobilty of Linkages Definition: ¾ The mobility of a mechanism can be defined as the minimum number of independent parameters required to specify the location of every link within a mechanism. ¾ Mobility equals the total number of degrees of freedom (DOF)
Union College Mechanical Engineering MER 312: Dynamics and Kinematics (of Mechanisms) / AT In planar linkages, motion is restricted to the XY plane. The mobility is hence reduced from six to three for each link. DOF or Mobility of Kinematic pairs Attaching these 2 links together with a full single DOF pair, such as a turning or sliding pair, then its mobility is further reduced from three to two for each link.