|
| Gruebler Count (approximate DOF): |
| 18 moving parts 108 DOF |
| 17 cylindrical joint(s) -68 DOF |
| 4 planar joint(s) -12 DOF |
| 2 inline primitive(s) -4 DOF |
| 11 inplane primitive(s) -11 DOF |
| 2 rotational motion(s) -2 DOF |
| --------------------------------------------- |
| Total (estimated) DOF = 11 |
| |
| Total (actual) DOF = 23 |
| |
| Total number of redundant constraints = 12 |
| |
| The following redundant joint constraints will be removed: |
![]() | Coincident7_3, Rotation about X |
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![]() | Coincident1_3, Rotation about Y |
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![]() | Coincident1_3, Rotation about X |
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![]() | Coincident2_5, Rotation about Y |
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![]() | Coincident2_5, Rotation about X |
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![]() | Coincident8, Rotation about Y |
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![]() | Coincident8, Rotation about X |
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![]() | Distance2, Rotation about Y |
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![]() | Distance2, Rotation about X |
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![]() | Coincident1_2, Rotation about Y |
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![]() | Coincident1_2, Rotation about X |
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![]() | Distance2_2, Rotation about Y |
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