Explore the fundamental concept of degrees of freedom in robotics through this comprehensive video lesson. Learn the definition and significance of degrees of freedom for rigid bodies in 2D and 3D spaces, and understand how robot joints constrain motion. Discover various types of joints used in robotics, including revolute, linear, universal, spherical, cylindrical, and helical joints. Master Grübler's Formula to calculate degrees of freedom for any mechanism, with practical applications to planar robot arms, four-bar linkages, Stewart platforms, and Delta robots. Gain insights into complex scenarios, such as a 7 DOF robot arm carrying a tray with drinks, to deepen your understanding of robotic motion and constraints.
Everything About the Degrees of Freedom of a Robot - Fundamentals of Robotics
Mecharithm - Robotics and Mechatronics via YouTube
Overview
Syllabus
Introduction
Definition of Degrees of Freedom
Degrees of Freedom of a Rigid Body in a 3D Space
Degrees of Freedom of a Rigid Body in a 2D Space
Robot Joints Put Constraints on the Motion of the Robot Links Reducing Their Degrees of Freedom dofs
Degrees of Freedom dofs of a 3R Robot Arm
Types of Different Joints Used in Robots
Revolute Rotary Joints Provide One degree-of-freedom DOF for the Robot Links
Linear sliding Joints Provide One degree-of-freedom DOF for the Robot Links
Universal Joints U Provide Two Degrees of Freedom for the Links it Connects
Spherical Joints S Provide Three Degrees of Freedom Between the Connecting Links
Cylindrical Joints C Provide Two Degrees of Freedom Between the Connecting Links
Helical Joints H Provide One Degree of Freedom DOF Between the Rigid Bodies It Connects
Grübler's Formula to Find the Degrees of Freedom DOFs of Any Mechanism Including the Robots
Grübler's Formula for Two-Degree-of-Freedom 2-dof Planar Robot Arm
Grübler's Formula for Four-Bar Linkage
Grübler's Formula for Stewart Platform
Grübler's Formula for Delta Robot
The problem of a 7 DOF Robot Arm Carrying a Tray with Drinks
Taught by
Mecharithm - Robotics and Mechatronics
