Mechanisms and Multibody Systems MECH3422

Lecture 2

Mobility

 Mobility: the number of input parameters which must be controlled independently in order to bring the device into a particular position (from Theory of
Machines and Mechanisms 1995 by J.E. Shigley and J.J.Uicker)

Definitions

Mobility (of a mechanism): the minimum number of coordinates needed to specify the positions of all members of the mechanism relative to a particular member chosen as the base or frame (from
Kinematics, Dynamics and Design of Machinery 2004 by K.J. Waldron and G.L. Kinzel)

JOINTS (KINEMATIC PAIRS): Lower

Copied from Kinematics, Dynamics and Design of Machinery 2004 by K.J. Waldron and G.L. Kinzel)

JOINTS (KINEMATIC PAIRS): Higher (some)

Copied from Kinematics, Dynamics and Design of Machinery 2004 by K.J. Waldron and G.L. Kinzel)

SOME COMPOUND JOINTS (typically considered as lower pairs)

Copied from Kinematics, Dynamics and Design of Machinery 2004 by K.J. Waldron and G.L. Kinzel)

MOBILITY CALCULATION
Kutzbach criterion 2-D

m 3( n 1) 2 f1 1 f 2

3-D

m 6( n 1) 5 f1 4 f 2 3 f 3 2 f 4 1 f 5

Spatial Mechanism: DELTA robot (Tohoku University, Sendai, Japan)

UWAs NUWAR robot has similar general structure

What are the number of members, the number of joints (kinematic pairs) and mobility (3-D) of the Delta robot shown below
m 6( n 1) 5 f1 4 f 2 3 f 3 2 f 4 1 f 5

No. of members:

Number of joints:
Mobility:

Stewart Platform

Downloaded (GNU license) from http://en.wikipedia.org/wiki/File:Hexapod_general_Anim.gif. Artist: UtzOnBike.

Stewart Platform: driving simulator

Traffic Safety and Nuisance Research Institute, Tokyo, Japan

Stewart Platform: driving simulator

Traffic Safety and Nuisance Research Institute, Tokyo, Japan

Stewart Platform: driving simulator

Traffic Safety and Nuisance Research Institute, Tokyo, Japan

What are the number of members, the number of joints (kinematic pairs) and mobility (3-D) of the robot (Stewart platform) shown below
m 6( n 1) 5 f1 4 f 2 3 f 3 2 f 4 1 f 5

No. of members:

Number of joints:
Mobility:

Another Example of Linkage With Idle DOF: Cam with roller follower
Idle DOF

Kutzbach Criterion (mobility equation)

m=0 -> statically determinate structure m<0 -> statically indeterminate structure m1 -> mechanism Mechanisms the satisfy the mobility equation are referred to as properly constrained

But sometimes the results are incorrect Overconstrained mechanisms: mobility equation underestimates the true mobility; usually giving negative values (as in case of 4-bar linkage in 3-D) Mechanisms with idle degrees of freedom: mobility equation overestimates the true mobility (as in case of Stewart platform)