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Answer:
3 DOF
2 Translational
1 Rotational
x
Answer:
1 DOF
0 Translational
1 Rotational
Joint Constraints
All bodies have six degrees of freedom to start with
(three translational and three rotational)
When modelling a particular scenario we lock these
degrees of freedoms to constrain the relative motions
of the bodies
Each joint which is used has a unique set of constraints
which means they can be used to model various degree
of freedom scenarios
Using the characteristics of each joint allows for the
replication of real world scenarios
Spherical Joint
Cylindrical Joint
Planar Joint
Revolute Joint
Translational Joint
Universal Joint
Cylindrical Joint
Fixed Joint
Planar Joint
Rack-and-pinion Joint
Revolute Joint
Spherical Joint
Translational Joint
Universal / Hooke Joint
Translational
Constraint
2
3
1
0
3
3
2
3
Rotational
Constraint
2
3
2
0
2
0
3
1
3
2
1
0
0
0
Motion (Translational)
Motion (Rotational)
Coupler
1
0
0
Constraint Element
0
0
0
1
0
0
0
0
Total
Constraint
4
6
3
1
5
3
5
4
0
0
0
3
2
1
0
0
0
0
0
0
3
2
1
3
2
1
0
1
0
0
0
1
1
1
1
Constraint
TASK
Build a universal spreadsheet that will
calculate the DOF in your model.
Remember: Total DOFs = (No. of Parts - 1) (No of Constraints)
Cylindrical Joint
Fixed Joint
Planar Joint
Rack-and-pinion Joint
Revolute Joint
Spherical Joint
Translational Joint
Universal / Hooke Joint
Translational
Constraint
2
3
1
0
3
3
2
3
Rotational
Constraint
2
3
2
0
2
0
3
1
3
2
1
0
0
0
Motion (Translational)
Motion (Rotational)
Coupler
1
0
0
Constraint Element
0
0
0
1
0
0
0
0
Total
Constraint
4
6
3
1
5
3
5
4
0
0
0
3
2
1
0
0
0
0
0
0
3
2
1
3
2
1
0
1
0
0
0
1
1
1
1
Constraint
M
REV
REV
REV
M
REV
REV
REV
Parts
Rev
Motion
M
6 x (4-1) = 18
-5 x 4 = -20
-1 x 1 = -1
Total DOF
REV
REV
= -3
REV
SPH
M
REV
REV
Parts
Rev
Sph
Motion
6 x (5-1) = 24
-5 x 4 = -20
-3 x 1 = -3
-1 x 1 = -1
Total DOF
=0
SPH
M
REV
REV
Parts
Rev
Sph
Uni
Motion
6 x (4-1) = 18
-5 x 2 = -10
-3 x 1 = -3
-4 x 1 = -4
-1 x 1 = -1
Total DOF
=0
08
BODY/GROUND
01
05
02
02
03
07
04
04
ROTATIONAL
MOTION
11
05
03
12
SPEHRICAL JOINT
(LOCATION 03, 06, 07)
Z
06
UNIVERSAL JOINT
(LOCATION 08)
References
Gillespie T. (1992), Fundamentals of Vehicle Dynamics. Warrendale (USA):
Society of Automotive Engineers
MSC ADAMS (2012), Trebuchet model example for Adams/View that uses a
STEP function for sling release [online] available from
http://simcompanion.mscsoftware.com/infocenter/index?page=content&
id=KB8020123&actp=search&searchid=1352054589140 [4th November
2012]
Norton R. (2004), Design of Machinery An Introduction to the Synthesis and
Analysis of Mechanisms and Machines. 3rd Edition. London: McGraw Hill