Degrees of freedom

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Degrees of freedom

  1. 1. Controllable DOF and total DOFDegrees of freedomAditya Kurniawan, S.ST
  2. 2. Mechanical jointsA BASIC of mechanical joints that supportTranslational andRotational motion Prismatic jointSurging, Heaving, Swaying Revolute jointYaw, Pitch, Roll
  3. 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. 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. 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. 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. 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. 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. 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. 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. 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. 12. Total Degrees of freedomIs a total of degree freedom (6 possible / available) disposition from3 translational and 3 rotational motion on 3D spaceZXYZXY??
  13. 13. Total Degrees of freedomIs a total of degree freedom (6 possible / available) disposition from3 translational and 3 rotational motion on 3D spaceZXYZXYSurgingYaw
  14. 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. 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. 16. Controllable Degrees of freedomIs a degree freedom (6 potential / available) controllable dispositionOf 3 translational and /or 3 rotational motion on 3D spaceZXYZXYMotorrotation
  17. 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. 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. 19. TableType ControllableDOFTotalDOFRules ExampleHolonomic 3 3 cDOF = tDOF OmnidirectionalwheelNon Holonomic 1 2 cDOF < tDOF Bicycle diferentialcontrolRedundant Holonomic 7 6 cDOF > tDOF Human hands
  20. 20. Robot TYPEMotorrotationNON HOLONOMIC ROBOTTotal DOF = 2Rotation about Z axesForwardBackwardControllable DOF = 1Revolute joint onY axes
  21. 21. Robot TYPE ExerciseTotal DOF = ?………………….………………….………………….Controllable DOF = ?………………….………………….………………….
  22. 22. Hybrid joint tableMechanical joint DOF Base joint

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