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Mechanism & DOF

The document discusses theory of mechanisms and machines. It defines mechanisms as systems that transmit motion between elements, while machines transmit both motion and energy. Mechanisms have kinematics, kinetics, dynamics, and statics branches dealing with motion, forces, and their effects. Degree of freedom is calculated using links, joints, and constraints. Open mechanisms have more than one degree of freedom while closed mechanisms may have one or more. A four-bar linkage is a simple closed chain with four links connected in a loop. The document asks who Grashof is in relation to linkages.

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Mostafa Mahmood
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© © All Rights Reserved
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Download as PDF, TXT or read online on Scribd
30 views

Mechanism & DOF

The document discusses theory of mechanisms and machines. It defines mechanisms as systems that transmit motion between elements, while machines transmit both motion and energy. Mechanisms have kinematics, kinetics, dynamics, and statics branches dealing with motion, forces, and their effects. Degree of freedom is calculated using links, joints, and constraints. Open mechanisms have more than one degree of freedom while closed mechanisms may have one or more. A four-bar linkage is a simple closed chain with four links connected in a loop. The document asks who Grashof is in relation to linkages.

Uploaded by

Mostafa Mahmood
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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Welcome

• THE DESIGN PROCESS


• Design, Invention, Creativity
• Identification of Need
• Background Research
• Goal Statement
• Performance Specifications
• Ideation and Invention
• Analysis
• Selection
• Detailed Design
• Prototyping and Testing
• Production
Mechanisms
• Theory of Machines
May be defined as that branch of engineering science, which deals with
the study of relative motion between the various parts of machine, and
forces which act on them. The knowledge of this subject is very
essential for an engineer in designing the various parts of a machine.
• Theory of Machines
 Kinematics: is that branch of theory of machines which is responsible to study
the motion of bodies without reference to the forces which are cause this
motion, it’s relate the motion variables (displacement, velocity, acceleration)
with the time.
 Kinetics: is that branch of theory of machines which is responsible to relate
the action of forces on bodies to their resulting motion.
 Dynamics: is that branch of theory of machines which deals with the forces
and their effects, while acting upon the machine parts in motion.
 Statics: is that branch of theory of machines which deals with the forces and
their effects, while the machine parts are rest.
• Differences between mechanism and machine
 When a mechanism is required to transmit power or to do some particular type
of work, it then becomes a machine. In such cases, the various links or elements
have to be designed to withstand the forces (both static and kinetic) safely.
 Mechanism is a system of elements arranged to transmit motion in a
predetermined fashion like folding table.
 Machine is a system of elements arranged to transmit motion and energy in
predetermined fashion like automobile engine.
 Structure is a system of elements arranged to not transmit any motion or power
like the chair and table.
• Types of motion
Pure Translation Pure Rotation General Planer Motion
Degree of Freedom
(DOF)
• Concept of constrain motion
• Concept of constrain motion
• Concept of constrain motion
• Concept of constrain motion
Human Arm DOF ??
• Human Arm
• What is the relative degree of freedom?

• The number of degrees of freedom that they allow between the two
elements joined.
• Degree of freedom calculations:
So “D.O.F” can be calculated from the following equation:

D.O.F= 3(n-1) - 2𝐾𝑃5 - 𝐾𝑃4

Where:
• D.O.F Is the number of degree of freedom which you should know to
define the given system.
• n is the number of links in the mechanism.
• 𝐾𝑃5 Is the number of (1 D.O.F) Pairs.
• 𝐾𝑃4 Is the number of (2 D.O.F) Pairs.
• Open and Closed mechanisms
Kinematic chains or mechanisms may be either open or closed. A closed mechanism will
have no open attachment points or nodes and may have one or more degrees of freedom.
An open mechanism of more than one link will always have more than one degree of
freedom, thus requiring as many actuators (motors) as it has DOF. A common example of
an open mechanism is an industrial robot.
• Four Bar linkage
• A four-bar linkage, also called a four-bar mechanism, is the simplest movable
closed- chain linkage. It consists of four bodies, called bars or links, connected in
a loop by four joints. Generally, the joints are configured so the links move in
parallel planes, and the assembly is called a planar four-bar linkage.
Who is Grashof ??
TASK
Thank You!

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