• Kinematics Of Spatial Mechanisms Pdf

Kinematics Of Spatial Mechanisms Pdf

Basic Kinematics of Constrained Rigid Bodies Rapid Design through Virtual and Physical Prototyping Introduction to Mechanisms Yi Zhang with Stephannie Behrens 4 4.1 4.1.1 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 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.

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