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