Question

Need help please with my Robotics Homework. It’s just about Degree of freedom of 4 figures. I’ll turn it in about 1hr.

Question DOF of a Robot Manipulator Is there any relation between two? uestion 2 DOF of a Robot Manipulator Question 3 DOF of a Robot Manipulator

Answer 1

answer of question1

Here is 6 movements of link so six degree of freedom. n rigid bodies, moving in space 6n degree of freedom measured relative to a fixed frame. In order to count the degree of freedom of this system, include the fixed body in the count of bodies. So the mobility is independent of the choice of the body. Then the degree of freedom of the un constrained system of N = n + a is M = 6n = 6(N - 1) It is convenient to define the number of constraints C that a joint expose interms of the joint's freedom f_1 where c = 6 - f. The result is that the mobility of the system formed from n moving links and j joints each with freedom f, i = 1 - j is given M = 6n - sigma^j_i = 1(6 - fi) = 6(N - 1 - j) + sigma^j_i = 1 fi N include fixed links.