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    Me 555 Degrees of Freedom

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    krish
    This document discusses generalized coordinates and degrees of freedom of mechanical systems. It defines generalized coordinates as the translation and rotation coordinates needed to describe the position of rigid bodies in a system. The number of degrees of freedom of a system is the minimum number of generalized coordinates required to define the configuration and must form an independent set. The document provides examples of one, two, and three degree-of-freedom planar systems and methods for calculating the degrees of freedom for interconnected systems by considering the number of constraints.

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    Me 555 Degrees of Freedom

    Uploaded by

    krish
    103 views2 pages
    This document discusses generalized coordinates and degrees of freedom of mechanical systems. It defines generalized coordinates as the translation and rotation coordinates needed to describe the position of rigid bodies in a system. The number of degrees of freedom of a system is the minimum number of generalized coordinates required to define the configuration and must form an independent set. The document provides examples of one, two, and three degree-of-freedom planar systems and methods for calculating the degrees of freedom for interconnected systems by considering the number of constraints.

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    Degrees of Freedom

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    This document discusses generalized coordinates and degrees of freedom of mechanical systems. It defines generalized coordinates as the translation and rotation coordinates needed to describe the position of rigid bodies in a system. The number of degrees of freedom of a system is the minimum number of generalized coordinates required to define the configuration and must form an independent set. The document provides examples of one, two, and three degree-of-freedom planar systems and methods for calculating the degrees of freedom for interconnected systems by considering the number of constraints.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    103 views2 pages

    Me 555 Degrees of Freedom

    Uploaded by

    krish
    This document discusses generalized coordinates and degrees of freedom of mechanical systems. It defines generalized coordinates as the translation and rotation coordinates needed to describe the position of rigid bodies in a system. The number of degrees of freedom of a system is the minimum number of generalized coordinates required to define the configuration and must form an independent set. The document provides examples of one, two, and three degree-of-freedom planar systems and methods for calculating the degrees of freedom for interconnected systems by considering the number of constraints.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    of 2

    ME 5550 Intermediate Dynamics

    Degrees of Freedom of Mechanical Systems


    System Configuration and Generalized Coordinates
    The configuration of a mechanical system is
    defined as the position of each of the bodies within
    the system at a particular instant. In general, both
    translation and rotation coordinates are needed to
    describe the position of a rigid body. Together the
    translation and rotation coordinates are called
    generalized coordinates. For the simple pendulum
    shown, xG and yG are translation coordinates that
    describe the location of the mass center of the bar,
    and is a rotation coordinate that describes the
    orientation of the bar. Fig. 1 Simple Pendulum

    Typically, the generalized coordinates used to define the configuration of the mechanical
    system form a dependent set. That is, the coordinates are not independent of each other.
    For example, for the simple pendulum of Fig.1, xG , yG , and are not independent,
    because we can write the following equations.

    L L
    x sin ( ) y cos( )
    G 2 G 2

    Given the value of one of the coordinates, these equations can be used to compute the values
    of the other two coordinates. So, only one of the coordinates is needed. Any pair of these
    coordinates forms a dependent set.

    Generalized Coordinates and Degrees of Freedom


    The number of degrees of freedom (DOF) of a mechanical system is defined as the
    minimum number of generalized coordinates necessary to define the configuration of the
    system. For a set of generalized coordinates to be minimum in number, the coordinates
    must form an independent set. Fig. 2 below shows examples of one, two, and three degree-
    of-freedom planar systems.

    Kamman ME 5550 page: 1/2


    Fig. 2 Examples of One, Two, and Three Degree of Freedom Systems

    For mechanical systems that consist of a series of interconnected bodies, it may not be
    obvious how many degrees of freedom the system possesses. For these systems, the number
    of degrees of freedom may be found by first calculating the number of degrees of freedom
    the system would possess if the motions of all the bodies were unrestricted and then
    subtracting the total number of constraints on the motion. For example, for the slider crank
    mechanism shown in Fig. 2, we can calculate the number of degrees of freedom in the
    following ways:
    a) Counting 3 Bodies: (crank, slider, and connecting bar)
    3 Bodies @ 3 DOF = 3*3 = 9 DOF
    3 Pin Joints = 3*2 = 6 constraints
    1 Slider Joint = 1*2 = 2 constraints
    Total DOF = 9-6-2 = 1 DOF

    b) Counting 2 Bodies: (crank and connecting bar)


    2 Bodies @ 3 DOF = 2*3 = 6 DOF
    2 Pin Joints = 2*2 = 4 constraints
    1 Pin/Slider Joint = 1*1 = 1 constraint
    Total DOF = 6-4-1 = 1 DOF

    Kamman ME 5550 page: 2/2

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