Chapter 4. Basic Kinematics of Constrained Rigid Bodies | grubler's formula
YiZhangwithSusanFinger[1]StephannieBehrensTableofContents[2]4.1DegreesofFreedomofaRigidBody[3]4.1.1DegreesofFreedomofaRigidBodyinaPlane[4]Thedegreesoffreedom(DOF)ofarigidbodyisdefinedasthenumberofindependentmovementsithas.Figure4-1showsarigidbodyinaplane.TodeterminetheDOFofthisbodywemustconsiderhowmanydistinctwaysthebarcanbemoved.Inatwodimensionalplanesuchasthiscomputerscreen,thereare3DOF.Thebarcanbetranslatedalongthexaxis,translatedalongtheyaxis,androtatedaboutitscentroid.Figure4-1Degreesof...
Yi Zhangwith Susan Finger[1]Stephannie Behrens Table of Contents [2] 4.1 Degrees of Freedom of a Rigid Body[3]4.1.1 Degrees of Freedom of a Rigid Body in a Plane[4]The degrees of freedom (DOF) of a rigid body is defined as the number of independent movements it has. Figure 4-1 shows a rigid body in a plane. To determine the DOF of this body we must consider how many distinct ways the bar can be moved. In a two dimensional plane such as this computer screen, there are 3 DOF. The bar can be translated along the x axis, translated along the y axis, and rotated about its centroid.
Figure 4-1 Degrees of freedom of a rigid body in a plane 4.1.2 Degrees of Freedom of a Rigid Body in Space[5]An unrestrained rigid body in space has six degrees of freedom: three translating motions along the x, y and z axes and three rotary motions around the x, y and z axes respectively.
Figure 4-2 Degrees of freedom of a rigid body in space[6] 4.2 Kinematic Constraints[7]...