Degrees of Freedom in Mechanisms Quiz

Mechanisms and Kinematic Diagrams

• The purpose of common multi-degree-of-freedom mechanisms is to achieve complex motions and trajectories.

Key Concepts

• In a kinematic diagram of a mechanism, a 'point of interest' is a specific location on the mechanism being analyzed.
• The term used to describe the number of degrees of freedom of a mechanism is degrees of freedom (DOF).
• When a mechanism's configuration is completely defined by positioning one link, it is said to have one degree of freedom.

Mechanism Components

• Pin joints are used to connect the links in a mechanism.
• In the example mechanism, the handle is significant as it influences the motion of the end of the lower handle.

Kinematic Diagrams

• The first step in drawing a kinematic diagram is to identify a frame in the mechanism, which serves as a reference point for the analysis.
• A frame is a fixed or stationary link that provides a reference for the motion of other links.

Degrees of Freedom

• The toggle clamp mechanism has one degree of freedom.
• Robotic arms can have up to 6 degrees of freedom.
• Linkages with zero or negative degrees of freedom are referred to as overconstrained mechanisms.

Joints and Links

• The total number of primary joints is denoted by 'j' in Gruebler's equation.
• The total number of links considered in Gruebler's equation is 'n'.
• Trusses typically use rigid joints, which are commonly used in locking mechanisms.

Mechanism Types

• Mechanisms that require more than one driver to operate them precisely are called multi-input mechanisms.