{"id":2035,"date":"2021-10-31T23:23:44","date_gmt":"2021-10-31T23:23:44","guid":{"rendered":"https:\/\/blog.metu.edu.tr\/eresmech\/?page_id=2035"},"modified":"2022-09-02T11:19:26","modified_gmt":"2022-09-02T11:19:26","slug":"2-1-3","status":"publish","type":"page","link":"https:\/\/blog.metu.edu.tr\/eresmech\/mechanisms\/ch2\/2-1-3\/","title":{"rendered":"2-1-3"},"content":{"rendered":"<div id=\"pl-gb2035-69d62e4d1c6d2\"  class=\"panel-layout\" ><div id=\"pg-gb2035-69d62e4d1c6d2-0\"  class=\"panel-grid panel-no-style\" ><div id=\"pgc-gb2035-69d62e4d1c6d2-0-0\"  class=\"panel-grid-cell\" ><div id=\"panel-gb2035-69d62e4d1c6d2-0-0-0\" class=\"so-panel widget widget_sow-editor panel-first-child panel-last-child widgetopts-SO\" data-index=\"0\" ><div\n\t\t\t\n\t\t\tclass=\"so-widget-sow-editor so-widget-sow-editor-base\"\n\t\t\t\n\t\t>\n<div class=\"siteorigin-widget-tinymce textwidget\">\n\t<h1><strong data-rich-text-format-boundary=\"true\">2.1 Degree of freedom of mechanisms-3<\/strong><\/h1>\n<p>As seen from the previous examples, in order to determine the degree-of-freedom of a mecanism one must determine<\/p>\n<ul>\n<li>\u00a0 The number of links<\/li>\n<li>\u00a0 The number of joints<\/li>\n<li>\u00a0 The type of each joint<\/li>\n<\/ul>\n<p>When determining\u00a0<strong>the number of links<\/strong> one must remember that a link may be composed of several different parts. As long as there is no relative motion between these parts the whole assembly must be considered as one link.<\/p>\n<p>When determining\u00a0<strong>the number of joints and the type of each joint <\/strong>the number of contacts between the two bodies is not important. Remember that there can be only one joint between two links. What is important is the relative motion that is permitted between the two links. The shape of the kinematic elements, the material used is completely unimportant.<br \/>\n<img loading=\"lazy\" decoding=\"async\" class=\"size-full wp-image-744 aligncenter\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/image001-1.gif\" alt=\"\" width=\"405\" height=\"224\" \/><\/p>\n<p>When designing the joints, depending on the application and the available manufacturing facilities, different ways of contact can be used. If the load to be transmitted is of low magnitude, one sided contact may be sufficient and the out-of plane moment created may be negligible. Whereas in case of a mechanism working under heavy load, a symmetric construction where the contact is on both sides may be preferred. Furthernore, the pin can be fixed to one link or can be an integral part of one of the links or can be free.<\/p>\n<p style=\"text-align: center\"><img loading=\"lazy\" decoding=\"async\" class=\"size-full wp-image-745 aligncenter\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/image001.gif\" alt=\"\" width=\"217\" height=\"37\" \/> \u00a0 <img loading=\"lazy\" decoding=\"async\" class=\"size-full wp-image-746 aligncenter\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/image002.gif\" alt=\"\" width=\"133\" height=\"157\" \/><\/p>\n<p>To increase the load carrying capacity there can be several contact points between the two links.<span style=\"color: #cc0000;font-size: small\"><b><img loading=\"lazy\" decoding=\"async\" width=\"28\" height=\"27\" class=\"wp-image-19\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/04\/important.gif\" alt=\"\" \/><\/b><\/span> Each contact point\u00a0<strong><span style=\"color: cc0000\">cannot be treated as a different kinematic pair. There can be only one kinematic element between two links.<\/span><\/strong><\/p>\n<p style=\"text-align: center\"><div class=\"su-image-carousel  su-image-carousel-has-spacing su-image-carousel-has-lightbox su-image-carousel-has-outline su-image-carousel-adaptive su-image-carousel-slides-style-default su-image-carousel-controls-style-dark su-image-carousel-align-center\" style=\"max-width:350px\" data-flickity-options='{\"groupCells\":true,\"cellSelector\":\".su-image-carousel-item\",\"adaptiveHeight\":true,\"cellAlign\":\"left\",\"prevNextButtons\":true,\"pageDots\":false,\"autoPlay\":false,\"imagesLoaded\":true,\"contain\":false,\"selectedAttraction\":1,\"friction\":1}' id=\"su_image_carousel_69d62e4d1e72b\"><div class=\"su-image-carousel-item\"><div class=\"su-image-carousel-item-content\"><a href=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2022\/09\/unj.gif\" target=\"_blank\" rel=\"noopener noreferrer\" data-caption=\"\"><img loading=\"lazy\" decoding=\"async\" width=\"465\" height=\"465\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2022\/09\/unj.gif\" class=\"\" alt=\"\" \/><\/a><\/div><\/div><div class=\"su-image-carousel-item\"><div class=\"su-image-carousel-item-content\"><a href=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2022\/09\/unj1.gif\" target=\"_blank\" rel=\"noopener noreferrer\" data-caption=\"\"><img loading=\"lazy\" decoding=\"async\" width=\"256\" height=\"256\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2022\/09\/unj1.gif\" class=\"\" alt=\"\" \/><\/a><\/div><\/div><\/div><script id=\"su_image_carousel_69d62e4d1e72b_script\">if(window.SUImageCarousel){setTimeout(function() {window.SUImageCarousel.initGallery(document.getElementById(\"su_image_carousel_69d62e4d1e72b\"))}, 0);}var su_image_carousel_69d62e4d1e72b_script=document.getElementById(\"su_image_carousel_69d62e4d1e72b_script\");if(su_image_carousel_69d62e4d1e72b_script){su_image_carousel_69d62e4d1e72b_script.parentNode.removeChild(su_image_carousel_69d62e4d1e72b_script);}<\/script><\/p>\n<p>In the above spatial mechanism there are two contacts between links 4 and 5. One contacting pair of kinematic elements (bottom) will permit 3 rotations and no translation, therefore is a spherical joint(f=3); the other contacting pair (the top) will permit three translations and 2 rotations, therefore it is a sphere between parallel planes joint (f=5). However, there can be one joint between two links. Therefore one must look at the relative motion that will be permitted between these two links. First of all, the degree of freedom of this joint will not be greater than the spherical joint (f=3). The contact that forms sphere between parallel planes joint will constrain one of the rotations of the spherical joint. Therefore two rotational freedoms will be permitted between links 4 and 5 which is known as a slotted sphere joint.<\/p>\n<p>A mechanism links may be produced in different shapes depending on the application.<\/p>\n<p style=\"text-align: center\"><b>This is a schematic drawing of an in-line slider-crank mechanism:<\/b><\/p>\n<p style=\"text-align: center\"><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-full wp-image-748\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/image004.gif\" alt=\"\" width=\"445\" height=\"105\" \/><\/p>\n<p style=\"text-align: center\">\u00a0<b>The figures shown below can all be the slider crank mechanism drawings with the same link lengths but of different link shapes:<\/b><\/p>\n<p style=\"text-align: center\"><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-full wp-image-749\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/image005.gif\" alt=\"\" width=\"440\" height=\"153\" \/><\/p>\n<p style=\"text-align: center\"><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-full wp-image-750\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/image006.gif\" alt=\"\" width=\"408\" height=\"183\" \/><\/p>\n<p style=\"text-align: center\"><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-full wp-image-751\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/image007.gif\" alt=\"\" width=\"340\" height=\"138\" \/><\/p>\n<p style=\"text-align: center\"><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-full wp-image-752\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/image008.gif\" alt=\"\" width=\"383\" height=\"127\" \/><\/p>\n<p style=\"text-align: center\"><b>In practice depending on the place the mechanism is being used, the material the links are made, the shape of the links, etc. may all change.<\/b><\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"wp-image-2041 size-full aligncenter\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/10\/image010a.gif\" alt=\"\" width=\"526\" height=\"195\" \/><\/p>\n<p>In cam mechanisms instead of a rigid roller at the end of the follower, the roller is free to rotate to reduce the sliding friction. If the degree-of-freedom of this mechanism is evaluated, it has 4 links 3 revolute and 1 cam pair (j = 4, \u03a3f<sub>i<\/sub> = 5) and the degree-of-freedom is calculated as (F = 3(4 \u2212 4 \u2212 1) + 5 = 2) 2. Although the motion of the follower requires one parameter (rotation of the cam), 2 degrees-of freedom is correct since the roller is free to rotate about its own axis. In practice, when we are calculating the degree-of-freedom of the cam pairs, we neglect the roller and consider this mechanism as composed of 3 links with 2 revolute and 1 cam pair.<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"wp-image-2042 size-full aligncenter\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/10\/image011a.gif\" alt=\"\" width=\"600\" height=\"247\" \/><\/p>\n<p>In certain other mechanisms, for better force transmission characteristics, the number of parts that are involved may be increased. A good example is the planetary gear trains. As far as kinematics is concerned, one can omit all but one of the planet gears (These mechanisms can also be considered as mechanisms of critical form, since we require certain dimensional requirements-such as the dimensions of all the planets to be the same, i.e. have the same diameter and tooth number-however, it is not necessary to classify these mechanisms as critical form mechanisms, since by eliminating all but one of the planets we obtain a mechanism that obeys the general degree-of-freedom equation).<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"wp-image-755 aligncenter\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/image012.gif\" alt=\"\" width=\"359\" height=\"120\" \/><\/p>\n<p>The degree-of-freedom equation should not, in general, depend on the link dimensions. There are certain exceptions in which the degree-of-freedom does depend on the link dimensions. These mechanisms are said to be in\u00a0<strong><span style=\"color: #ff8040\"><span style=\"color: #ed2745\">critical form<\/span><\/span><\/strong>. We shall call a mechanism to be of<strong>\u00a0<span style=\"color: #fe012e\">permanent critical form<\/span>\u00a0<\/strong>if the general degree-of-freedom equation is not obeyed through-out the whole phase of the mechanism motion. These are\u00a0<strong><i>parallelogram mechanisms<\/i><\/strong> (Above figure) or mechanisms that are derived from Robert-Chebyshev theorem. . In the parallelogram mechanism shown above, there are 6 links and , 8 revolute joints, thus the degree-of-freedom obtained from the general degree-of-freedom equation is: F = 3(6 \u2212 8 \u2212 1) + 8 = -1. However, the mechanism is movable due to the parallelogram construction.If the opposite link lengths were not equal, the result obtained from the general degree-of-freedom equation was correct<b>.<\/b>\u00a0In planar mechanisms the permanent critical form is usually the result of a parallelogram loop. Below, some examples of the use of this parallelogram mechanism are shown.<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"wp-image-2037 size-full aligncenter\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/10\/image013a.gif\" alt=\"\" width=\"293\" height=\"386\" \/><\/p>\n<p>Above example is the multiple drill head, to drill several holes at the same time. This is only possible if the opposite link dimensions are made equal.(If necessary you can increase or decrease the number of drills).<\/p>\n<p>Below, the toolbox shown is a very good example of paralelogram mechanism.<\/p>\n<p style=\"text-align: center\"><img loading=\"lazy\" decoding=\"async\" class=\"alignnone wp-image-2038 size-full\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/10\/toolbox.gif\" alt=\"\" width=\"640\" height=\"480\" \/><\/p>\n<p style=\"text-align: center\"><img loading=\"lazy\" decoding=\"async\" class=\"alignnone wp-image-758\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/image014.gif\" alt=\"\" width=\"356\" height=\"307\" \/><\/p>\n<p>In case of<strong>\u00a0Instantaneous critical form<\/strong>\u00a0mechanism,the mechanism is movable only for one instant. At some other position, the mechanism is a rigid structure and may be unmovable. In general the degree-of-freedom obtained from the general equation is 0 or negative. However due to the special dimensions, small amount of motion is permitted at the design position. Due to the elasticity of the links and joint clearences the motion is usually of a finite size.<\/p>\n<p>In space mechanisms the permanent critical form is very frequently encountered. The movability of the mechanism is usually achieved by the intersection of the axes of two or more joints at one point. If all the axes of the joints in a space mechanism intersect at one point, these mechanisms are spherical mechanisms and the degree-of- freedom of space must be taken as 3 rather than 6. Some of these permanent critical form mechanisms in space are shown below.<\/p>\n<p>There are lots of different critic form mechanisms in space. In order to determine the degree-of-freedom of such mechanisms, a thorough analysis is necessary.<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"size-full wp-image-759 aligncenter\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/image015.gif\" alt=\"\" width=\"285\" height=\"187\" \/><\/p>\n<p style=\"text-align: center\">Technical drawing of spatial slide F=1<\/p>\n<p style=\"text-align: center\"><div class=\"su-image-carousel  su-image-carousel-has-spacing su-image-carousel-has-lightbox su-image-carousel-has-outline su-image-carousel-adaptive su-image-carousel-slides-style-default su-image-carousel-controls-style-dark su-image-carousel-align-center\" style=\"max-width:320px\" data-flickity-options='{\"groupCells\":true,\"cellSelector\":\".su-image-carousel-item\",\"adaptiveHeight\":true,\"cellAlign\":\"left\",\"prevNextButtons\":true,\"pageDots\":false,\"autoPlay\":false,\"imagesLoaded\":true,\"contain\":false,\"selectedAttraction\":1,\"friction\":1}' id=\"su_image_carousel_69d62e4d1efe0\"><div class=\"su-image-carousel-item\"><div class=\"su-image-carousel-item-content\"><a href=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/image016.gif\" target=\"_blank\" rel=\"noopener noreferrer\" data-caption=\"\"><img loading=\"lazy\" decoding=\"async\" width=\"314\" height=\"231\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/image016.gif\" class=\"\" alt=\"\" \/><\/a><\/div><\/div><div class=\"su-image-carousel-item\"><div class=\"su-image-carousel-item-content\"><a href=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/spatialslide.gif\" target=\"_blank\" rel=\"noopener noreferrer\" data-caption=\"\"><img loading=\"lazy\" decoding=\"async\" width=\"256\" height=\"256\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/spatialslide.gif\" class=\"\" alt=\"\" \/><\/a><\/div><\/div><\/div><script id=\"su_image_carousel_69d62e4d1efe0_script\">if(window.SUImageCarousel){setTimeout(function() {window.SUImageCarousel.initGallery(document.getElementById(\"su_image_carousel_69d62e4d1efe0\"))}, 0);}var su_image_carousel_69d62e4d1efe0_script=document.getElementById(\"su_image_carousel_69d62e4d1efe0_script\");if(su_image_carousel_69d62e4d1efe0_script){su_image_carousel_69d62e4d1efe0_script.parentNode.removeChild(su_image_carousel_69d62e4d1efe0_script);}<\/script><\/p>\n<p style=\"text-align: center\">Solid model and its animation<\/p>\n<p>In the above example, the spatial slide will operate only if all the revolute joint axis intersect at one point. Two other similar examples are shown below.<\/p>\n<p><div class=\"su-image-carousel  su-image-carousel-has-spacing su-image-carousel-has-lightbox su-image-carousel-has-outline su-image-carousel-adaptive su-image-carousel-slides-style-default su-image-carousel-controls-style-dark su-image-carousel-align-center\" style=\"max-width:250px\" data-flickity-options='{\"groupCells\":true,\"cellSelector\":\".su-image-carousel-item\",\"adaptiveHeight\":true,\"cellAlign\":\"left\",\"prevNextButtons\":true,\"pageDots\":false,\"autoPlay\":false,\"imagesLoaded\":true,\"contain\":false,\"selectedAttraction\":1,\"friction\":1}' id=\"su_image_carousel_69d62e4d1f849\"><div class=\"su-image-carousel-item\"><div class=\"su-image-carousel-item-content\"><a href=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/filemachine.gif\" target=\"_blank\" rel=\"noopener noreferrer\" data-caption=\"\"><img loading=\"lazy\" decoding=\"async\" width=\"256\" height=\"256\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/filemachine.gif\" class=\"\" alt=\"\" \/><\/a><\/div><\/div><div class=\"su-image-carousel-item\"><div class=\"su-image-carousel-item-content\"><a href=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/filemachine-1.gif\" target=\"_blank\" rel=\"noopener noreferrer\" data-caption=\"\"><img loading=\"lazy\" decoding=\"async\" width=\"256\" height=\"256\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/filemachine-1.gif\" class=\"\" alt=\"\" \/><\/a><\/div><\/div><\/div><script id=\"su_image_carousel_69d62e4d1f849_script\">if(window.SUImageCarousel){setTimeout(function() {window.SUImageCarousel.initGallery(document.getElementById(\"su_image_carousel_69d62e4d1f849\"))}, 0);}var su_image_carousel_69d62e4d1f849_script=document.getElementById(\"su_image_carousel_69d62e4d1f849_script\");if(su_image_carousel_69d62e4d1f849_script){su_image_carousel_69d62e4d1f849_script.parentNode.removeChild(su_image_carousel_69d62e4d1f849_script);}<\/script><img loading=\"lazy\" decoding=\"async\" class=\"wp-image-2039 size-full aligncenter\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/10\/image017.gif\" alt=\"\" width=\"431\" height=\"307\" \/><\/p>\n<p>If a planar kinematic chain is formed by sliding and turning joints only, for a constrained motion and for the mechanism to obey the general degree-of-freedom equation the following restrictions must be made:<\/p>\n<p style=\"padding-left: 40px\">1. If the kinematic elements of a link form sliding pairs, the <strong>axes of the sliding pairs cannot be parallel<\/strong>. In such a case we have a redundant degree-of-freedom, which is the translation of that link about the axes of the sliding pairs.<\/p>\n<p style=\"text-align: center\"><img loading=\"lazy\" decoding=\"async\" class=\"wp-image-763 aligncenter\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/image018.gif\" alt=\"\" width=\"366\" height=\"216\" \/><\/p>\n<p style=\"padding-left: 40px\">2. Binary links of the kinematic chain which have only prismatic pair elements cannot be directly connected to each other.<\/p>\n<p style=\"text-align: center\">\u00a0<img loading=\"lazy\" decoding=\"async\" class=\"alignnone wp-image-764\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/image019.gif\" alt=\"\" width=\"444\" height=\"317\" \/><\/p>\n<p style=\"padding-left: 40px\">3. No closed link loop may have less than two turning pairs. If there is only one revolute joint, due to the other joints, which will be prismatic, rotation will not be possible between the two links connected by the revolute joint.<\/p>\n<p style=\"text-align: center\"><img loading=\"lazy\" decoding=\"async\" class=\"alignnone wp-image-765\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/image020.gif\" alt=\"\" width=\"477\" height=\"332\" \/><\/p>\n<p style=\"padding-left: 40px\">4. A three-link loop with revolute and prismatic joints must be counted as one link. An exception to this case is a three link-loop with sliding pairs only.<\/p>\n<p style=\"text-align: center\"><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-full wp-image-766\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/image021.gif\" alt=\"\" width=\"369\" height=\"107\" \/><\/p>\n<p>In the above cases there is either redundant freedom (cases 1 and 2) or immobility (cases 3 and 4)<\/p>\n<p>Another case where the general degree-of-freedom equation cannot be used, or if used will give an incorrect result is the case where the degree-of-freedom of space is not constant for the whole mechanism. For example, consider a spatial four-bar connected in series with a planar four-bar mechanism. The resulting mechanism has 1 degree-of-freedom. But in the general degree-of freedom equation the degree of freedom of space is not clear and neither 3 or 6 degrees-of freedom will not work.<img loading=\"lazy\" decoding=\"async\" class=\"wp-image-2040 size-full aligncenter\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/10\/image022.gif\" alt=\"\" width=\"250\" height=\"300\" \/><\/p>\n<p style=\"text-align: center\">Technical Drawing<\/p>\n<p style=\"padding-left: 320px;text-align: center\"><div class=\"su-image-carousel  su-image-carousel-has-spacing su-image-carousel-has-lightbox su-image-carousel-has-outline su-image-carousel-adaptive su-image-carousel-slides-style-default su-image-carousel-controls-style-dark su-image-carousel-align-center\" style=\"max-width:200px\" data-flickity-options='{\"groupCells\":true,\"cellSelector\":\".su-image-carousel-item\",\"adaptiveHeight\":true,\"cellAlign\":\"left\",\"prevNextButtons\":true,\"pageDots\":false,\"autoPlay\":false,\"imagesLoaded\":true,\"contain\":false,\"selectedAttraction\":1,\"friction\":1}' id=\"su_image_carousel_69d62e4d20090\"><div class=\"su-image-carousel-item\"><div class=\"su-image-carousel-item-content\"><a href=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/image023a.gif\" target=\"_blank\" rel=\"noopener noreferrer\" data-caption=\"\"><img loading=\"lazy\" decoding=\"async\" width=\"201\" height=\"309\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/image023a.gif\" class=\"\" alt=\"\" \/><\/a><\/div><\/div><div class=\"su-image-carousel-item\"><div class=\"su-image-carousel-item-content\"><a href=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/spatial4bar.gif\" target=\"_blank\" rel=\"noopener noreferrer\" data-caption=\"\"><img loading=\"lazy\" decoding=\"async\" width=\"256\" height=\"256\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/spatial4bar.gif\" class=\"\" alt=\"\" \/><\/a><\/div><\/div><\/div><script id=\"su_image_carousel_69d62e4d20090_script\">if(window.SUImageCarousel){setTimeout(function() {window.SUImageCarousel.initGallery(document.getElementById(\"su_image_carousel_69d62e4d20090\"))}, 0);}var su_image_carousel_69d62e4d20090_script=document.getElementById(\"su_image_carousel_69d62e4d20090_script\");if(su_image_carousel_69d62e4d20090_script){su_image_carousel_69d62e4d20090_script.parentNode.removeChild(su_image_carousel_69d62e4d20090_script);}<\/script><\/p>\n<p style=\"text-align: center\">Solid Model and Animation<\/p>\n<\/div>\n<\/div><\/div><\/div><\/div><\/div>\n\n\n<p> <a href=\"https:\/\/blog.metu.edu.tr\/eresmech\/mechanisms\/ch2\/example-2\/\" data-type=\"page\"><img loading=\"lazy\" decoding=\"async\" width=\"38\" height=\"38\" class=\"wp-image-16\" style=\"width: 38px\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/04\/back_button.gif\" alt=\"\"><\/a><a href=\"https:\/\/blog.metu.edu.tr\/eresmech\/mechanisms\/ch1\/\" data-type=\"page\" data-id=\"52\"><img loading=\"lazy\" decoding=\"async\" width=\"38\" height=\"38\" class=\"wp-image-17\" style=\"width: 38px\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/04\/contents_button.gif\" alt=\"\"><\/a><a href=\"https:\/\/blog.metu.edu.tr\/eresmech\/mechanisms\/\" data-type=\"page\" data-id=\"47\"><img loading=\"lazy\" decoding=\"async\" width=\"38\" height=\"38\" class=\"wp-image-18\" style=\"width: 38px\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/04\/home_button.gif\" alt=\"\"><\/a><a href=\"https:\/\/blog.metu.edu.tr\/eresmech\/mechanisms\/ch2\/2-2\/\" data-type=\"page\" data-id=\"92\"><img loading=\"lazy\" decoding=\"async\" width=\"38\" height=\"38\" class=\"wp-image-20\" style=\"width: 38px\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/04\/next_button.gif\" alt=\"\"><\/a><img loading=\"lazy\" decoding=\"async\" width=\"119\" height=\"40\" class=\"wp-image-15\" style=\"width: 119px\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/04\/ceres.gif\" alt=\"\">    <\/p>\n","protected":false},"excerpt":{"rendered":"<p>2.1 Degree of freedom of mechanisms-3 As seen from the previous examples, in order to determine the degree-of-freedom of a mecanism one must determine \u00a0 The number of links \u00a0 The number of joints \u00a0 The type of each joint &hellip;<\/p>\n<p class=\"read-more\"> <a class=\"more-link\" href=\"https:\/\/blog.metu.edu.tr\/eresmech\/mechanisms\/ch2\/2-1-3\/\"> <span class=\"screen-reader-text\">2-1-3<\/span> Devam\u0131n\u0131 Oku &raquo;<\/a><\/p>\n","protected":false},"author":7747,"featured_media":0,"parent":1946,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"full-width-page.php","meta":{"footnotes":"","_links_to":"","_links_to_target":""},"class_list":["post-2035","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/blog.metu.edu.tr\/eresmech\/wp-json\/wp\/v2\/pages\/2035","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/blog.metu.edu.tr\/eresmech\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/blog.metu.edu.tr\/eresmech\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/blog.metu.edu.tr\/eresmech\/wp-json\/wp\/v2\/users\/7747"}],"replies":[{"embeddable":true,"href":"https:\/\/blog.metu.edu.tr\/eresmech\/wp-json\/wp\/v2\/comments?post=2035"}],"version-history":[{"count":0,"href":"https:\/\/blog.metu.edu.tr\/eresmech\/wp-json\/wp\/v2\/pages\/2035\/revisions"}],"up":[{"embeddable":true,"href":"https:\/\/blog.metu.edu.tr\/eresmech\/wp-json\/wp\/v2\/pages\/1946"}],"wp:attachment":[{"href":"https:\/\/blog.metu.edu.tr\/eresmech\/wp-json\/wp\/v2\/media?parent=2035"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}