30-01-2018

Controlling
Degrees of Freedom
DESIGN OF PRECISION MACHINES

Controlling Degrees of Freedom

Excessive constraints/ Over-constrained

Smooth action in x-direction is

difficult to achieve unless the parts
have been perfectly machined and
assembled so that interference
among the redundant constraints
does not interfere.

DESIGN OF PRECISION MACHINES 2

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Controlling Degrees of Freedom

From a kinematic viewpoint, excessive constraints must be
avoided to produce a rationally designed guide.

DESIGN PRINCIPLE:
To achieve a highly precise and smooth
action which requires minimal force to operate,
avoid excessive constraints. (The principle of
kinematic design)

Kinematic design thus means employing

optimum constraints when designing a machine.

DESIGN OF PRECISION MACHINES 3

Controlling Degrees of Freedom

Eliminating excessive constraints

DESIGN OF PRECISION MACHINES 4

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Controlling Degrees of Freedom

Four column press

Constrained DOFs
= 8 x 4 DOFs
= 32 DOFs

Much of the machining effort is intended

to prevent positional over constraint being
manifested in the design.

DESIGN OF PRECISION MACHINES 5

Controlling Degrees of Freedom

Thermal centre
Alternative concept

Without preload With preload

DESIGN OF PRECISION MACHINES 6

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Controlling Degrees of Freedom

Table top and table legs

Bending moments transferred to Kinematic mount of table top on table

table top structure

DESIGN OF PRECISION MACHINES 7

Controlling Degrees of Freedom

Exact constrained design

For a high level of predictable behaviour and

a minimum number of accurate dimensions,
exact constrained design is a necessary
condition.

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Controlling Degrees of Freedom

Elements to constrain degrees of freedom

Symbol for ONE translation Symbol for ONE rotation

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Controlling Degrees of Freedom

Constraining one translation by contact

A sphere against a flat surface Constrained DOF

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Controlling Degrees of Freedom

Contact stress and stiffness with ball support

Steel ball :
1
 F 3
 Hz ,max  1360 2  106 N/m 2
r 
contact stiffness 
1 1
dF
 4.3 106  r  F
3 3
N/m
d

Constrained DOF

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Controlling Degrees of Freedom

Contact stress and stiffness with ball support

Constrained DOF

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Controlling Degrees of Freedom

Damaging steel balls is very easy!

g  Hz  3000 N/mm 2 !
20 mm

DESIGN OF PRECISION MACHINES 13

Controlling Degrees of Freedom

Poor position accuracy in z-direction due to spherical
contact area

approximation z - error :
2
z  r_h - r 
2

 
2
cos( )  1 
2

DESIGN OF PRECISION MACHINES 14

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Controlling Degrees of Freedom

Poor position accuracy in z-direction due to spherical
contact area

approximation z - error :
z  (r_h  r)  (r_h  r) cos( )
2
cos( )  1 
2
 
2
z  r_h - r 
2

DESIGN OF PRECISION MACHINES 15

Controlling Degrees of Freedom

Constraining ONE translation

DESIGN OF PRECISION MACHINES 16