2. Degree Of Freedom in 3D
Degree of Freedom (DOF) of a body is defined
as number of independ movement the body has
A body in 3D has 6 Degree of Freesom
3 Rotational
3 Translational
3. Degree Of Freedom in 2D (Planar)
A body in 2D has 3 Degree of Freesom
1 Rotational
2 Translational
5. Links
●
Link is a member or combination of member
connecting each other and has relative motion
between each other
6. Kinematic Pair
Lower Pair
It is a pair of link which have surface to surface or
area contact between members.
Eg: Nut and Screw Assembly, Slider and Slotted
Link
7. ●
Higher Pair
●
If a pair has point or line contact between links
or member
●
Eg:
Cam And Follower
Ball Bearing
8. KUTZBACH CRITERIA
Kutzbach Criteria is for determining Degree of
Freedom of body in Planar Mechanism ( 2D)
Here:
L = Number of Link
J = Number Of Lower Pair
H = Number Of Higher Pair
11.
Formula is DOF = 3 (L-1) – 2 J – H
DOF = 3 (7-1) – 2 (8) – (1)
Therefore
DOF = 1
12. GRUBLER’S CRITERIA
When Higher Pair (H) = 0 in Kutzbach Criteria
then the Equation procured is Grubler's Criteria
Here:
L = Number of Link
J = Number Of Lower Pair
16. Thank You
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