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Sudan University of Science and Technology

Gradated studies collage


Biomedical Engineering Department
Degrees Of Freedom (DOF)

AMNA AHMED IBRAHIM DAOUD

The Grbler-Kutzbach criterion given in (1) prescribes the i degrees of freedom


(DOF) of a 3D mechanism with L links and Pi joints: DOF = 6(L 1)5P1 4P2 3P3
2P4 P5. (1)
This criterion is applicable to generic structures with no special symmetries that
generate geometric singularities. Since there are no known non-generic structures
that have been observed in experimental observations, we can assume, without loss
of generality that protein structures do not contain such singularities. We compute
the topological (connectivity) information, which is then parsed to extract the closed
loops whose degrees of freedom are determined from equation Note that due to the
fact that our kinematic model only contains revolute joints with one DOF, P2 = P3 =
P4 = P5 = 0. Therefore, for a closed loop containing 6 links, i.e., L 6, the resulting
number of degrees of freedom of a closed loop will be zero or less. This, in turn,
means that the loop is kinematically over-constrained, and it can be considered a
rigid body. Consequently, the loops having more than 6 links are under-constrained
and hence flexible. For instance, a loop with 8 links and 8 joints has 2 degrees of
freedom, which means controlling any 2 of its joints completely determines the
angles in the other joints. In some cases these loops can be connected to each
other and share one or more links. In such a case, DOF of the system cannot be
calculated using (1). For non-rigid (NR) loops with shared links, we compute the
number of DOF based on (2):
Where (DOF)i is the number of degrees of freedom of the ith loop in the group of
connected loops and Pj represents the degrees of freedom that are used by the j th
shared joint. There is no restriction on which closed loops may be used as long as
they collectively involve all links and joints. One can develop a proof of based on an
analogy with geometric constraint equations.

Reference:
J. Michael McCarthy, 21st Century Kinematics ,2012 NSF Workshop.

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