degree of freedom of spherical coordinates
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A spherical pair keeps two spherical centers together. Two rigid bodies connected by this constraint will be able to rotate relatively around x, y and z axes, but there will be no relative translation along any of these axes. Therefore, a spherical pair removes three degrees of freedom in spatial mechanism. DOF = 3.
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A spherical pair keeps two spherical centers together. Two rigid bodies connected by this constraint will be able to rotate relatively around x, y and z axes, but there will be no relative translation along any of these axes. Therefore, a spherical pair removes three degrees of freedom in spatial mechanism. DOF = 3.
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