Modern Robotics - C2

Question 1

dof = ?

Answer 1

dof = (# of variables) - (# of independent equations)

dof = (SUM freedomos of bodies) - (# of independent equations)

Question 2

revolute (R) joint

of freedom?

Answer 2

1

Question 3

prismatic (P) joint
/ linear joint

of freedom?

Answer 3

1

Question 4

Universal (U) joint

of freedom?

Answer 4

2

Question 5

spherical (S) joint
/ ball-and-socket joint

of freedom?

Answer 5

3

Question 6

Helical (H) joint

Answer 6

1

Question 7

Cylindrical (C) joint

Answer 7

2