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Questions and Answers
What does the term 'configuration space' refer to in robotics?
What does the term 'configuration space' refer to in robotics?
- The space of all configurations of the robot (correct)
- The number of degrees of freedom of a robot
- The types of typical robot joints
- The Grubler's formula
What does 'degrees of freedom' mean in the context of robotics?
What does 'degrees of freedom' mean in the context of robotics?
- The space of all configurations of the robot
- The types of typical robot joints
- The number of independent joint variables required to specify the location of all the links of the robot in space (correct)
- The Grubler's formula
Which type of joints are not allowed in typical robots?
Which type of joints are not allowed in typical robots?
- Prismatic joints
- Revolute joints
- Joints that connect exactly two links
- Joints that simultaneously connect three or more links (correct)
What does Grubler's formula calculate for a mechanism with links and joints?
What does Grubler's formula calculate for a mechanism with links and joints?
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What is a planar four bar linkage?
What is a planar four bar linkage?
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According to Gruebler's formula, how many degrees of freedom (DOF) does the four-bar linkage have?
According to Gruebler's formula, how many degrees of freedom (DOF) does the four-bar linkage have?
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Study Notes
Configuration Space in Robotics
- Refers to the set of all possible positions and orientations of a robot's joints and links.
- Each point in the configuration space represents a unique configuration of the robot.
Degrees of Freedom in Robotics
- Indicates the number of independent movements a robot can make.
- Each joint typically contributes to one degree of freedom.
Joint Types Not Allowed in Typical Robots
- Non-conventional joints, such as those exhibiting infinite or highly restricted movement, are typically avoided.
- Examples include joints that can rotate freely in all directions without limits.
Grubler's Formula
- A mathematical formula used to calculate the degrees of freedom in a mechanical system.
- Commonly expressed as DOF = 3(L - 1) - 2J - H, where L is the number of links, J is the number of joints, and H is the number of higher pairs.
Planar Four-Bar Linkage
- A simple mechanical system consisting of four links connected in a loop by four joints that allow rotation.
- It is used to convert rotary motion into linear motion and vice versa.
Degrees of Freedom of a Four-Bar Linkage According to Gruebler's Formula
- Based on Gruebler's formula, a four-bar linkage typically has one degree of freedom.
- This implies that the system can perform one independent motion among its components.
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