How are the degree of freedom and the number of joints in a linkage can be found when the number of links and the number of loops in a kinematic chain are known ?
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In mechanical engineering, a kinematic chain is an assembly of rigid bodies connected by joints to provide constrained (or desired) motion that is the mathematical model for a mechanical system.[1] As in the familiar use of the word chain, the rigid bodies, or links, are constrained by their connections to other links. An example is the simple open chain formed by links connected in series, like the usual chain, which is the kinematic model for a typical robot manipulator.
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