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Outline

• Last time:
• Identify links and types of joints

ME 3751: Kinematics and Mechanism Design • Today:

• Mobility analysis
• What it is and why we care
• 2D and 3D Key point: Mobility Formula
Lecture 3 • Special cases j
M  K (n  j  1)   f i (1.1)
• Locally over-constrained
Mobility, idle DOF i 1
• Idle DoF K  3 for planar linakges
Read Ch.1.7-1.11, Kinzel • Redundancy K  6 for spatial linakges
• Over-constrained linkages
n : # of links
j : # of joint
f i : connectivity of ith joint

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Mobility Analysis Mobility vs. Actuation

• Degree of freedom (DOF) = mobility M • Mobility vs. # of actuated motions

• Is a linkage movable? If yes, how many joints must be • Well-actuated: M = # of actuated motions
actuated? • Under-actuated: M > # of actuated motions
• M>=1: mechanisms • Over-actuated: M < # of actuated motions
• M=0: structures
• M < 0, system is statically indeterminant; must consider
deformations to analyze it

Four wheel drive

over-actuated,
Acrobot, under-actuated, M=1, 4 motor
M >= 1 Industrial manipulator M=2, 1 motor
M=0 M<0 (well actuated) Requires advanced control algorithm
3 link link 4

Connectivity vs. Mobility Joints (Low Pairs)

• Connectivity fi fi
• # DoF of a kinematic joint (2 bodies)
• # distinct movements that can occur between 2 bodies
• Refers only to relative motion of the two bodies
• i.e. How does Body B move w.r.t. A?

• Mobility M
• # DoF of a linkage or mechanism (multiple bodies)
• Minimum # coordinates needed to specify positions of
all members of the mechanism relative to a frame
• Sometimes use must specify one link as frame
• i.e. How does system move w.r.t. global?
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Joints (Higher pairs) Pin-in-slot Joints

• A pin-in-slot joint = R-joint + P-joint

fi
• Pin in slots are typically used as inexpensive substitutes for
slider cranks
• Higher pair- looser machine tolerances
• May not last as long

fi

Note: Many higher pairs can be replaced by a kinematically

equivalent combination of lower pair (Figure 1.2) 7 8

Mobility Analysis of Planar Linkages Derivation of Gruebler Equation

y y j j
M  3(n  1)   (3  f i )  3(n  j  1)   f i
• Degree of freedom (DOF) x P x

i 1 i 1
• A planar point has 2 DOFs y y
x
• A planar rigid body has 3 DOFs x

• Two coordinates of a reference point Y

• One angel for the orientation
X
• Mobility of a linkage with n links and j joints
(Chebyshev-Gruebler equation for planar linkage)
 j
 j
M  3(n  1)   3 j   f i   3(n  j  1)   f i (1.1)
 i 1  i 1

n : # of links
j : # of joint
f i : connectivity of ith joint
Youtube link “Kinematics with MicroStation - Ch01C Grueblers Criteria.avi”
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Derivation of Gruebler Equation Mobility Analysis: Steps

• Add a joint with connectivity f between 2 bodies

• Had 3 DoF between bodies
1. Count the number of bodies including the fixed
body (ground, wall, frame etc.) n
• Now have removed (3-f) DoF • Count only one fixed body
• What if j joints? Y
j 2. Count the number of joints j
 (3 
i 1
fi ) X

• Total DOF for a mechanism with n bodies and one being 3. Record connectivity of each joint (f) fi
fixed 3( n  1)
• The mobility of the mechanism is 4. Use equation
j j
M  3(n  1)   (3  f i )  3(n  j  1)   f i
j
i 1 i 1
M  3(n  j  1)   f i
Youtube link “Kinematics with MicroStation - Ch01C Grueblers Criteria.avi” i 1
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Mobility Analysis (Planar Examples) More Examples

j j
M  3(n  j  1)   f i M  3(n  j  1)   f i
i 1 i 1
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More Examples Problem

• Q: Please calculate the mobility

• n= j= fi= M=

j j
M  3(n  j  1)   f i M  3(n  j  1)   f i
i 1 i 1
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Mobility Analysis (Planar Examples) Spatial Mobility: Now in 3D

• Planar 3R open chain: j • DOF associated with each body

For a serial open chain, M   f i
i 1
• 1 body = 6 DOF
• N bodies = 6n DOF
Why?
• If 1 one the links is ground
• Total mobility is 6(n-1)

• Add a joint with connectivity f

• 6-f DOF of relative motion is lost
• Reduction in mobility is 6-f
j
M  3(n  j  1)   f i
i 1
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Spatial Mobility Spatial Mobility Example 1

• Spatial mobility criterion • n= j=  fi = M=

j
M  6(n  j  1)   f i
j
M  6(n  j  1)   f i
i 1 i 1

• n= number of bodies
• j = number of joints
• f = connectivity (dof) of each joint
j
M  6(n  j  1)   f i
i 1
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Spatial Mobility Example 2: PUMA What we learned today

• n= j=  fi = M= • Chebyshev-Gruebler’s mobility equation

j
M  K (n  j  1)   f i (1.1)
i 1
j K  3 for planar linakges
M  6(n  j  1)   f i K  6 for spatial linakges
n : # of links
i 1
j : # of joint
f i : connectivity of ith joint

• Why we care
• Determine # of actuators required

j
M  6(n  j  1)   f i • Questions?
i 1
https://www.youtube.com/watch?v=tjOhGqOHfhg 21 23