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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 |
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Total number of redundant constraints = 12 |
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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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