Lovely

Professional University
TERM PAPER
MEC 207

Topic:-Find out different mechanism having

degree of freedom from unity to six(where they
are used).

Submitted to:- Submitted by:-

Mr. Rajender kumar Name: - Rahul Sinha
Section: - M4901
Reg. No. – 10901770
Roll no: - B38
 ACKNOWGEMENT
I take this opportunity to present my votes of thanks to all those guidepost
who really acted as lightening pillars to enlighten our way throughout this
project that has led to successful and satisfactory completion of this study.

We are really grateful to our HOD SIR for providing us with an opportunity
to undertake this project in this university and providing us with all the
facilities. We are highly thankful to Mr. RAJENDER for his active support,
valuable time and advice, whole-hearted guidance, sincere cooperation and
pains-taking involvement during the study and in completing the assignment
of preparing the said project within the time stipulated.

Lastly, We are thankful to all those, particularly the various friends , who
have been instrumental in creating proper, healthy and conductive
environment and including new and fresh innovative ideas for us during the
project, their help, it would have been extremely difficult for us to prepare the
project in a time bound framework.

RAHUL SINHA.
CONTENTS
 DEGREE OF FREEDOM
 Kinematic Definition
 Degrees of freedom of a mechanism
 TWO Degree of freedom
 COBRA-A Two-Degree of Freedom Fiber Optic Positioning
Mechanism
 COBRA DESIGN OVERVIEW
 THREE Degree of freedom
 A THREE DEGREE OF FREEDOM PARALLEL HAND
CONTROLLER MECHANISM
 DESIGN OBJECTIVES
 FOUR Degree of freedom
 A Four Degree of Freedom MEMS Microgripper with Novel Bi-
Directional Thermal Actuators.
 FIVE degree of freedom.
 A New 5-Degree-of-Freedom Redundant Parallel Mechanism with
High Tilting Capabilities.
 Mechanisms Motions
 SIX Degree of freedom
 Six-degree-of-freedom articulated robot mechanism and
assembling and working apparatus using same
 THEORETICAL TWV MODEL
DEGREE OF FREEDOM
Degrees of Freedom of members and joints of mechanisms govern the working of a machine.
Each member of mechanism can move in certain directions or rotate about certain axes and is
not allowed to move or rotate in other directions. Degrees of Freedom determine the possible
movements of mechanisms.

Kinematic Definition
Degrees of freedom (DoF) are related to the motion possibilities of rigid bodies.
Kinematic definition for DoF of any system or its components would be “the number of
independent variables or coordinates required to ascertain the position of the system or
its components”.

The concept of DoF in kinematics of machines is used in three ways. DoF of

1. A body relative to a reference frame.

2. A kinematic joint.

3. A mechanism.

Degrees of freedom of a mechanism

The DoF for a mechanism is defined as the number of coordinates or variables required
to be specified such that the position and orientation of all the members of the
mechanism can be stated as a function of time.

For determining the DoF for a mechanism we will start with assuming all the members
of the mechanism free in plane and thus having three DoF each. Then we will apply
constraints and DoF will reduce as the members are joined together to form
mechanism.

Take the mechanism to be composed of ‘n’ members or links. Initially each link is
assumed to be free and thus the mechanism has 3n DoF. One of the members is to be
a base or frame link thus have zero DoF or it lost its all three DoF. The DoF left in the
mechanism at this stage is 3n-3 or 3(n-1).

When the pairs of links form joints they will loose DoF. If the formed joint have 'Fi' DoF
each then reduction in DoF is (3-Fi) as they were initially free (having 3 DoF). If there
are 'j' number of joints then total reduction in DoF will be summation of (3-Fi) over 'j'
number of joints. The net DoF for a mechanism can be given by
TWO Degree of freedom
COBRA-A Two-Degree of Freedom Fiber Optic Positioning
Mechanism
Abstract—The Wide-Field Multi Object Spectrometer (WFMOS) along with
corrective optics will mount in place of the Secondary Mirror of the Subaru
telescope on Mauna Kea, Hawaii to allow simultaneous observations of
cosmologic targets. It will conduct large scale Galactic Archeology and Dark
Energy surveys to help unlock the secrets of the universe. The key enabler of the
observations is an array of 2400 Cobra optic fiber positioners made from very
small rotary motors which were developed for this purpose. Cobra is a two degree
of freedom mechanism that can position an optical fiber in the prime focus of the
telescope to a precision of 5 μm. It is a theta-phi style positioner containing two
rotary piezo tube motors with one offset from the other, which enables the optic
fiber to be placed anywhere in a small circular patrol region. The patrol diameter of
the actuator is large enough to obtain 100% sky coverage of the close packed hex
array pattern of positioners. The name Cobra was chosen because the positioner
resembles a snake ready to strike.

COBRA DESIGN OVERVIEW

Each Cobra is a two degree of freedom theta-phi style mechanism containing two
rotary piezo tube motors with one offset from the other, which enables the optical
fiber to be placed anywhere in a 9.5mm diameter patrol region. The patrol region
of the positioner is such that there are no gaps in sky coverage between the Cobra
positioners. For cost savings the Cobra actuator does not incorporate encoders on
the 4800 degrees of freedom. Instead they are controlled in an open loop mode
with position information obtained after the positioner field is stopped and imaged.
Their positions are verified by back illuminating the optical fibers and measuring
their locations using a Charge-Coupled Device (CCD) metrology camera.

THREE Degree of freedom

A THREE DEGREE OF FREEDOM PARALLEL HAND CONTROLLER

MECHANISM
This paper presents the kinematic design of a 10 link “in parallel” mechanism for
use in a three degree of freedom force reflecting haptic interface. The mechanism
linkage couples three coplanar rotary electric motor shafts to the endpoint grasped
by the human operator. The linkage permits all motor housings to be supported on
a common base, thereby reducing the inertia and weight that the interface actuators
and human operator must support and move. Furthermore, because only rigid links
and rotary ball bearings are used, the linkage avoids the compliance, friction,
and/or backlash associated with other types of transmission elements. The linkage
workspace is bounded by the singular sphere of maximum reach and separated into
two hemispheres by singularities in the plane of the motor shafts.

DESIGN OBJECTIVES
The haptic interface whose kinematic design we discuss in this paper is intended
initially for manual control research in a three dimensional coordinated haptic-
visual virtual environment. For work in a three dof haptic environment, in which
the purpose of the interface is the display of mechanical dynamics explicitly for
muscle sensory organs, we chose to develop a device capable of the minimum
necessary number of dofs. These three dofs correspond to translational
displacements (as seen in the immersing VE visual display) and forces at the
human-machine interface and will not include orientation angles and torques.
Thus, all interactions at the human-machine interface will occur through a single
point where only forces, as opposed to arbitrary rigid body moments or couples,
can be applied. By restricting the interface to three dofs, we reduce design and
implementation complexity associated with higher dof devices. The haptic
interface workspace will be sized to conform with the displacement region over
which binocular stereo vision is a significant contributor to human visual depth
perception. This depth range coincides with the normal extent of human arm
motion in the midsagittal plane—i.e., the 60 cm (24 in) or so beginning from ~15
cm (6 in) in front of the nose up to full arm reach. Our intent is to have at
minimum a 15 cm spherical well conditioned manual workspace centered in this
region. Other performance objectives not addressed in this paper, but that we are
considering in the design of this three dof haptic interface, include interface
bandwidth and force dynamic range—the ratio of maximum continuous force to
minimum force threshold and resolution due to friction and ripple. In this paper,
discussion is limited to the interface kinematics that arise from the components
and configuration selected to help meet these objectives The haptic interface that
we are developing has electromechanical actuators. Due to reasons of cleanliness
and portability, electrohydraulic actuation was ruled out as a mechanical power
source. Unacceptable mechanical compliance precluded the use of
electropneumatic actuation for this work. Furthermore, to reduce design
complexity, we elected to build a fixed-base joystick-type device.
FOUR Degree of freedom

A Four Degree of Freedom MEMS Microgripper with Novel

Bi-Directional Thermal Actuators.
A four degree of freedom thermally actuated MEMS microgripper is presented in
this paper. Each jaw of the microgripper has independent x and y degrees of
freedom. These extra degrees of freedom give the gripper added dexterity for
manipulating microparts. The motion of each gripper jaw is provided by a two
degree of freedom compliant mechanism which is based on a _ve bar rigid link
mechanism. This gripper also introduces a novel thermal microactuator design that
is capable of bi-directional actuation giving it a greater range of motion than
previous thermal actuator designs. The actuator provides a total range of motion of
12.7 _m and a maximum force of 1.9 mN. Also, since this microgripper is based on
a compliant mechanism, deformable object tracking can be used to provide force as
well as position feedback for the gripper. This combination of an increased number
of degrees of freedom and increased sensory feedback provides a level of dexterity
that has not been previously available in microassembly.

Five Degree of freedom

A New 5-Degree-of-Freedom Redundant Parallel Mechanism with

High Tilting Capabilities.

The proposed machine is a 6-actuator / 5-dof parallel mechanism. In Fig. 1, a joint-

and-loop graph is depicted: P, R, S and U stand for Prismatic, Revolute, Spherical
and Universal joints. Gray boxes represent actuated joints; white boxes passive
joints. Underlined letter stands for a joint equipped with a position sensor. Circles
express a kinematic coupling between two joints.

Mechanisms Motions
In this section the geometrical conditions that must be fulfilled in order to
guarantee a non-singular design for the mechanism are described. A first emphasis
is made on the “spatial parallelograms” because their design is responsible of the
traveling plate’s rotations; then the interest of the single rods for the “good”
posture of parallelograms.
Each traveling plate’s lateral part is connected to a Delta-like “spatial
parallelogram” by ball joints. Let us note jin the vector joining to , the vector
joining A to , and u the vector joining to.
Conclusion
In this paper, Eureka a novel architecture has been introduced combining actuation
redundancy and a three-part traveling plate. It has been shown that, if some
geometrical constraints are satisfied, this architecture offers (i) a huge range of
motion in rotation and translation, (ii) compact and simple kinematic modeling for
control purposes, (iii) several realistic practical designs.
SIX Degree of freedom
The purpose of this study is to propose a new six-degree-of-freedom fine motion
mechanism with high rigidity. It has the following characteristics: (1) the loading
capacity of the fine motion stage is large; (2) this mechanism requires neither guide
plane nor lubrication, and moves without any friction, wear and backlash; (3) each
one-degree-of-freedom motion does not interfere with the others. In the previous
report, fine motion mechanism which has five-degrees-of-freedom except the
rotational direction around Z-axis was proposed. In this paper, the remaining one-
degree-of-freedom fine motion mechanism or g-stage is proposed. The
construction and the experimental results were described for newly developed g-
stage. The maximum movement of the stage was 2 arcsec in g-direction at 400 N
load. The positioning resolution was less than 0.02 arcsec in g-direction. The
positioning error and motion errors were less than 0.01 micrometers and 0.02
arcsec. Transient interference observed in the previous paper was decreased from
0.3 micrometer to 0.06 micrometer by employing velocity feedback system.

Six-degree-of-freedom articulated robot mechanism and assembling and

working apparatus using same

A six-degree-of-freedom articulated robot mechanism includes a three-degree-of-

freedom translation unit for adjusting the position. The translation unit includes an
orientation maintaining mechanism which has a rotation articulation of the direct
drive type connecting a drive motor directly to an arm, and a link mechanism. A
three-degree-of-freedom rotation unit for adjusting the orientation includes three
rotation articulators of the direct drive type connecting a drive motor directly to a
table, and the axes of the three rotation articulators intersect one another at one
point.
Six degrees of freedom (6DoF) refers to motion of a rigid body in three-
dimensional space, namely the ability to move forward/backward, up/down,
left/right (translation in three perpendicular axes) combined with rotation about
three perpendicular axes (pitch, yaw, roll). As the movement along each of the
three axes is independent of each other and independent of the rotation about any
of these axes, the motion indeed has six degrees of freedom.

THEORETICAL TWV MODEL

Bajaj Auto rickshaw-Rear Engine 4 Stroke, Petrol model manufactured by Bajaj
Auto Limited, shown in Fig 1., is mathematically modeled. The corresponding
spatial discrete element model along with the forces acting is shown in Fig. 2. The
body of the vehicle has been modelled with six DOF– three linear motion along x,
y and z-axes and three rotational motions about three axes (roll-pitchyaw).
Collective mass of three wheels is 6.5 percent of the total mass of vehicle system
including two occupants- a driver and a passenger and hence has been neglected.
This is comparatively very less, so to simplify the model, wheels have not been
modelled separately. As shown in Fig. 3 the front suspension consists of spring,
damper and wheel mounted on a stiff member pivoting about the front fork and not
coaxially. The effective coaxial suspension parameters (kf1 and cf1 in Fig. 2) to
account for the suspension mechanism have hence been computed from the
manufacturer’s data. Vehicle attitude and trajectory through the course of
maneuver are defined with respect to a right hand orthogonal axis system, inertial
frame (QXYZ) that is fixed to the earth. Origin of moving reference Gxyz
coincides with center of mass of vehicle body and travels with the vehicle. The
frame is well known as body-centered frame. The co-ordinates showed in Fig. 2
are displacements along x, y, z-axes. Angular velocities of body centered frame x y
ω1 ω2 , and z ω3 are about x, y, z-axes respectively. The vehicle motion is described
by the three linear displacements along inertial X, Y and Z-axes and three angular
displacements which are the Euler angles ψ, β and θ.

REFRENCES
Micromechatronics, Inc. website http://www.mmech.com
Google search engine
http://wiki.answers.com/Q/How_many_Mechanisms_having_degree_of_freedom_unity_to_6
Wikipedia.com/degree_of_freedom

THANK YOU