Your SlideShare is downloading. ×
0
Degrees of freedom
Degrees of freedom
Degrees of freedom
Degrees of freedom
Degrees of freedom
Degrees of freedom
Degrees of freedom
Degrees of freedom
Degrees of freedom
Degrees of freedom
Degrees of freedom
Degrees of freedom
Degrees of freedom
Degrees of freedom
Degrees of freedom
Degrees of freedom
Degrees of freedom
Degrees of freedom
Degrees of freedom
Degrees of freedom
Degrees of freedom
Degrees of freedom
Upcoming SlideShare
Loading in...5
×

Thanks for flagging this SlideShare!

Oops! An error has occurred.

×
Saving this for later? Get the SlideShare app to save on your phone or tablet. Read anywhere, anytime – even offline.
Text the download link to your phone
Standard text messaging rates apply

Degrees of freedom

1,942

Published on

Published in: Business
0 Comments
2 Likes
Statistics
Notes
  • Be the first to comment

No Downloads
Views
Total Views
1,942
On Slideshare
0
From Embeds
0
Number of Embeds
1
Actions
Shares
0
Downloads
0
Comments
0
Likes
2
Embeds 0
No embeds

Report content
Flagged as inappropriate Flag as inappropriate
Flag as inappropriate

Select your reason for flagging this presentation as inappropriate.

Cancel
No notes for slide

Transcript

  • 1. Controllable DOF and total DOFDegrees of freedomAditya Kurniawan, S.ST
  • 2. Mechanical jointsA BASIC of mechanical joints that supportTranslational andRotational motion Prismatic jointSurging, Heaving, Swaying Revolute jointYaw, Pitch, Roll
  • 3. Mechanical jointsPrismatic jointA prismatic joint (also called sliders) is a one degree of freedomkinematic pair used in mechanisms.Prismatic joints provide single-axis sliding function used in placessuch as hydraulic and pneumatic cylinders
  • 4. Mechanical jointsRevolute jointA prismatic joint (also called sliders) is a one degree of freedomkinematic pair used in mechanisms.Prismatic joints provide single-axis sliding function used in placessuch as hydraulic and pneumatic cylinders
  • 5. Mechanical jointsRevolute jointA prismatic joint (also called sliders) is a one degree of freedomkinematic pair used in mechanisms.Prismatic joints provide single-axis sliding function used in placessuch as hydraulic and pneumatic cylinders
  • 6. Mechanical jointsRevolute jointA prismatic joint (also called sliders) is a one degree of freedomkinematic pair used in mechanisms.Prismatic joints provide single-axis sliding function used in placessuch as hydraulic and pneumatic cylinders
  • 7. Mechanical jointsRevolute jointA prismatic joint (also called sliders) is a one degree of freedomkinematic pair used in mechanisms.Prismatic joints provide single-axis sliding function used in placessuch as hydraulic and pneumatic cylinders
  • 8. Mechanical jointsRevolute jointA prismatic joint (also called sliders) is a one degree of freedomkinematic pair used in mechanisms.Prismatic joints provide single-axis sliding function used in placessuch as hydraulic and pneumatic cylinders
  • 9. Mechanical jointsRevolute jointA prismatic joint (also called sliders) is a one degree of freedomkinematic pair used in mechanisms.Prismatic joints provide single-axis sliding function used in placessuch as hydraulic and pneumatic cylinders
  • 10. Mechanical jointsRevolute jointA prismatic joint (also called sliders) is a one degree of freedomkinematic pair used in mechanisms.Prismatic joints provide single-axis sliding function used in placessuch as hydraulic and pneumatic cylinders
  • 11. Total Degrees of freedomIs a total of degree freedom (6 possible / available) disposition from3 translational and 3 rotational motion on 3D space 3Translational MotionSurging, Heaving, Swaying 3 Rotational MotionYaw, Pitch, RollZXYZXY
  • 12. Total Degrees of freedomIs a total of degree freedom (6 possible / available) disposition from3 translational and 3 rotational motion on 3D spaceZXYZXY??
  • 13. Total Degrees of freedomIs a total of degree freedom (6 possible / available) disposition from3 translational and 3 rotational motion on 3D spaceZXYZXYSurgingYaw
  • 14. Total Degrees of freedomIs a total of degree freedom (6 possible / available) disposition from3 translational and 3 rotational motion on 3D spaceZXYZXYSurgingYawTotal DOF = 2
  • 15. Controllable Degrees of freedomIs a degree freedom (6 potential / available) controllable dispositionOf 3 translational and /or 3 rotational motion on 3D space 3Translational MotionSurging, Heaving, Swaying 3 Rotational MotionYaw, Pitch, RollZXYZXY??
  • 16. Controllable Degrees of freedomIs a degree freedom (6 potential / available) controllable dispositionOf 3 translational and /or 3 rotational motion on 3D spaceZXYZXYMotorrotation
  • 17. Controllable Degrees of freedomIs a degree freedom (6 potential / available) controllable dispositionOf 3 translational and /or 3 rotational motion on 3D spaceZXYZXYRevolute joint onY axis
  • 18. Controllable Degrees of freedomIs a degree freedom (6 potential / available) controllable dispositionOf 3 translational and /or 3 rotational motion on 3D spaceZXYZXYRevolute joint onY axisControllable DOF = 1
  • 19. TableType ControllableDOFTotalDOFRules ExampleHolonomic 3 3 cDOF = tDOF OmnidirectionalwheelNon Holonomic 1 2 cDOF < tDOF Bicycle diferentialcontrolRedundant Holonomic 7 6 cDOF > tDOF Human hands
  • 20. Robot TYPEMotorrotationNON HOLONOMIC ROBOTTotal DOF = 2Rotation about Z axesForwardBackwardControllable DOF = 1Revolute joint onY axes
  • 21. Robot TYPE ExerciseTotal DOF = ?………………….………………….………………….Controllable DOF = ?………………….………………….………………….
  • 22. Hybrid joint tableMechanical joint DOF Base joint

×