1-Fundamentals - AME 352 KINEMATIC FUNDAMENTALS...

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AME 352 KINEMATIC FUNDAMENTALS P.E. Nikravesh 1 Fundamentals A Free Body A free particle (point) on a plane has 2 degrees-of- freedom (DoF). x y A free body (link) on a plane has 3 degrees-of- freedom. x y Any general motion (displacement) of a free planar body can be decomposed into three independent motions: x y The body can move in the x -direction; . . . it can move in the y -direction; and . . . it can rotate about the z -axis (the axis perpendicular to the x-y plane). x y x y x y Two free planar bodies contain 6 degrees-of-freedom. n free bodies contain 3 ± n degrees-of-freedom. x y Joints and Degrees-of-Freedom A pin joint between two bodies, or between a body and the ground, eliminates 2 DoF. A sliding joint between two bodies, or between a body and the ground, eliminates 2 DoF. Pin joint and sliding joint are called full joints; i.e., a joint that eliminates 2 degrees-of-freedom is called a full joint .
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AME 352 KINEMATIC FUNDAMENTALS P.E. Nikravesh 2 A pin-in-slot joint between two bodies, or between a body and the ground, eliminates 1 DoF. Pin-in-slot joint is called a
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This note was uploaded on 09/08/2010 for the course AME 352 taught by Professor Nikravesh during the Fall '08 term at University of Arizona- Tucson.

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1-Fundamentals - AME 352 KINEMATIC FUNDAMENTALS...

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