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Mechanics of Machines: Degrees of Freedom & Motion Actuators

Mechanics of Machines 3

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Najwan Azit
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42 views

Mechanics of Machines: Degrees of Freedom & Motion Actuators

Mechanics of Machines 3

Uploaded by

Najwan Azit
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© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PPTX, PDF, TXT or read online on Scribd
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Mechanics of Machines

MDB3043

Lecture 03:
Degrees of Freedom
& Motion Actuators
Lecture 03 Outline
 Degrees of Freedom
 Motion Actuators
Degrees of Freedom
(Mobility)

~ a way to categorize mechanisms


based on the complexity of the
motion generated.
Degrees of Freedom (DOF)
 Number of independent inputs required to precisely
position all links of the mechanism relative to the
frame
 A mechanism has one DOF if the configuration of a
mechanism is defined by positioning one link
 Number of actuators required to operate the
mechanism properly
 Higher DOF increases the complexity of the motion,
and the cost (capital and operational).
Constrained Mechanism
DOF =1

Most
practical
mechanisms
have DOF=1
Constrained Mechanism
DOF =1

Most
practical
mechanisms
have DOF=1

Copyright © 2004, 2006 by Azman Zainuddin


Overconstrained Mechanism
DOF =0

The ‘mechanism’ is
locked into a certain
position.
As it does not move, it
is not a mechanism by
definition but a
structure.
Unconstrained Mechanism
DOF =2
Unconstrained Mechanism
DOF =2 (Alternative configuration)
5-Axis Robot
DOF = 5

Joint types:
P – prismatic (sliding)
R – revolute (pin)

Copyright © 2004, 2006 by Azman Zainuddin


Open vs Closed Chain
end-effector

Actuator only
Actuators required required here
for every links

3-DOF; Need 3 actuators to 1-DOF; Need only an


function properly, actuator to function,
Each actuator need a Motion kinematics for end-
controller effector has limited range.
Determining DOF
 Except for simple linkages, it is not always clear from
observation of the linkage how many DOF it has.
 DOF can be determined based on the number of
links and joints in the linkage. The relationship is
known as Gruebler’s equation.
No. of links No. of
DOF primary
joints
F = 3 (n - 1) –2 j
Valid for planar motion and
mechanisms with only primary joints.
Constrained Mechanism

n=4
j=4

F = 3 (n - 1) –2j
= 3 (4-1) – 2(4)
Copyright © 2004, 2006 by Azman Zainuddin
=1
Overconstrained Mechanism

n=3
j=3

F = 3 (n - 1) –2j
= 3 (3-1) – 2(3)
=0
Unconstrained Mechanism

n=5
j=5

F = 3 (n - 1) –2j
= 3 (5-1) – 2(5)
=2
Unconstrained Mechanism

n=5
j=5

F = 3 (n - 1) –2j
= 3 (5-1) – 2(5)
=2
Coincident Joints
A single joint might connects
3 links by using a single pin.

2
A,B However, in applying
Gruebler’s equation, there
are 2 joints recognised at
the point.
3
1
Joint A connects link 1 to link 2.
Joint B connects link 2 to link 3.
Mechanism
with coincident joints
n=6
j=7

F = 3 (n - 1) –2j
= 3 (6-1) – 2(7)
=1
 A certain motion can be generated
either by a 1-DOF mechanism or a 3-
DOF mechanism. Which mechanism
should be chosen?
Exercise: Determining Degrees of
Freedom of a Backhoe
DOF=? No. of links, n
No. of joints, j
DOF = 3(n-1)-2j
Motion Actuators
 Electric motors
 Pneumatic and hydraulic cylinders
 Engines
Motion Actuators
MACHINE

Source of Input Output


Power Mechanism Motion
Motion

MOTION
ACTUATORS

Copyright © 2004, 2006 by Azman Zainuddin


AC ‘Squirrel Cage’ Induction Motor
The cheapest way to generate motion from electricity.
However, the motion is rotary, continuous, unidirectional
and constant speed at limited range of loads.
Various Types of Motors
A motor can be specially made to produce a particular motion
requirement such as:
 Frequent changes in directions

 Constant speed at different loads

 Constant load torque at different speed

 Speed can be controlled manually within a certain range

 Speed can be preset to follow certain velocity profile (stepper motor)

 Speed can be controlled automatically based on feedbacks


(servomotor)

But the use of these motors will incur higher cost and greater
complexity in control compared to using AC induction motor. A
mechanism is usually needed to get the desired motion economically.
Single-phase AC Motors:
Torque –Speed Curves
The operating torque
and speed of the
driving shaft of a
mechanism must be
determined to select
the motor. Different
motors have
different torque-
speed profile.
Hydraulics & Pneumatics
 A hydraulic pump is used to bring oil to a high
pressure.
 The pressurized oil flows one end of a cylinder,
expands and moves a piston in the cylinder.
 Similar concepts in pneumatics. Air is compressed by
a compressor instead of hydraulic oil.
 The motion produced by this motion actuator is a
linear reciprocating motion of a finite distance.
 Less efficient than electric motor because greater
energy loss in compressing air or pressurizing oil and
pressure loss in the air and oil flows.
Pneumatic Cylinder
Hydraulic & Pneumatic
Systems
Hydraulic Air
Pump Compressor

Hydraulic Air Valve


Valve

Hydraulic cylinder Pneumatic cylinder


Cylinder Motion (1)
High pressure oil (in hydraulic cylinders) or
highly-compressed air (in pneumatic
cylinders) pushes the piston outwards.
Engine
Crankshaft and piston
are part of a linkage.
Chemical energy in the fuel reacts
with air, undergoes combustion,
expands in a cylinder, moves a
piston which turns a crankshaft.
The motion produced by the
engine is rotary, continuous
and does not change direction.
Tutorial Week 3
For each problem,
i. Sketch a kinematic diagram of the mechanism, and
ii. Determine their degrees of freedom.

1-1 & 1-26


1-4 & 1-29
1-10 & 1-35
1-13 & 1-38
1-19 & 1-44
1-23 & 1-48

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