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Class3 - End Question

The document discusses the degrees of freedom (DOF) of a rigid body in n-dimensional space, deriving a formula for total DOFs as n(n+1)/2, with n translational and n(n-1)/2 rotational DOFs. It also analyzes the DOFs of a human arm using two methods, concluding that it has 7 DOFs, and explores modeling the arm as a mechanism using Grubler’s formula. Additionally, it addresses holonomic and nonholonomic constraints in differential equations.

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Amad Asif
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30 views

Class3 - End Question

The document discusses the degrees of freedom (DOF) of a rigid body in n-dimensional space, deriving a formula for total DOFs as n(n+1)/2, with n translational and n(n-1)/2 rotational DOFs. It also analyzes the DOFs of a human arm using two methods, concluding that it has 7 DOFs, and explores modeling the arm as a mechanism using Grubler’s formula. Additionally, it addresses holonomic and nonholonomic constraints in differential equations.

Uploaded by

Amad Asif
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
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Q1. derive a formula, in terms of n, for the number of degrees of freedom of a rigid body in n-dimensional space.

Indicate how many of these dof are translational and how many are rotational. Describe the topology of the C-
space (e.g., for n = 2, the topology is R2 × S1)
A degree of freedom (DOF) is an independent movement a system can perform. A rigid body can move in two ways: Translation
(moving without rotating). Rotation (changing orientation without moving).
Placing the First Point A single point in n-dimensional space can be freely placed anywhere. This means it has n degrees of freedom (it
can be placed at any coordinate in Rn). DOF for first point=n
The second point also starts with n DOFs (like the first one). However, this point is not independent: it has a fixed distance from the first
point. This distance constraint removes 1 DOF.
Remaining DOF for second point=n−1. Geometrically, this means the second point must lie on an Sn−1.
For third point Dof = n-2 and must lie on Sn-2 sphere.
K-th point: Remaining DOF=n−(k−1) Summing for all points: n+(n−1)+(n−2)+⋯+1=n(n+1)/2
Thus, a rigid body in n-dimensional space has: Total DOFs=n(n+1)/2
The first n DOFs are translational. The remaining n(n−1)/2 DOFs are rotational (orienting the remaining points relative to the first).
Thus: Translational DOFs=n ; Rotational DOFs=n(n−1)/2; Thus, the C-space topology is: C-space=Rn×Sn−1×Sn−2×⋯×S1

Exercise 2.2 Find the number of degrees of freedom of your arm, from your torso to your palm (just past the
wrist, not including finger degrees of freedom). Keep the center of the ball-and-socket joint of your shoulder
stationary (do not “hunch” your shoulders). Find the number of degrees of freedom in two ways: (a) add up
the degrees of freedom at the shoulder, elbow, and wrist joints; (b) fix your palm flat on a table with your
elbow bent and, without moving the center of your shoulder joint, investigate with how many degrees of
freedom you can still move your arm.

a. Step 1: Shoulder Joint: The shoulder is a spherical joint (ball-and-socket). A spherical joint has three rotational
DOFs. However, in the given problem, an extra degree of freedom is included for the independent rotation of the
arm about its axis. Thus, the shoulder contributes 4 DOFs. Step 2: Elbow Joint The elbow is a hinge joint. A hinge
joint allows one rotational DOF (bending and straightening). Dof = 1 Step 3: Wrist Joint The wrist allows two
independent movements: 1. Flexion-extension (bending up and down) 2. Side-to-side movement (radial-ulnar
deviation). Wrist DOF=2 Step 4: Forearm Rotation: The forearm can rotate about its own axis (pronation-
supination). This motion occurs between the elbow and the wrist. It contributes one additional DOF.
Forearm Rotation DOF=1 Step 5: Summing Up All DOF: Adding all: Total DOF=4(shoulder) + 1(elbow) +
1(forearm rotation) +2(wrist) = 7

b. Placing the palm at a fixed position and orientation in space puts six constraints on the arm (the six dof of a
rigid body). Keeping the center of the shoulder joint stationary, there is only one dof left: the arc of a circle on
which the tip of the elbow can lie. This is one dof, so the arm must have started with seven dof before six
constraints were placed on it

Exercise 2.3 we assumed that your arm is a serial chain. In fact, between your upper arm bone (the humerus)
and the bone complex just past your wrist (the carpal bones), your forearm has two bones, the radius and the
ulna, which are part of a closed chain. Model your arm, from your shoulder to your palm, as a mechanism with
joints and calculate the number of degrees of freedom using Grubler’s formula. Be clear on the number of
freedoms of each joint you use in your model. Your joints may or may not be of the standard types studied in
this chapter (R, P, H, C, U, and S).

We identify:
Links (N):Torso (ground link), Humerus (upper arm), Radius, Ulna, Carpal bones (rigid body at the wrist) N=5

Joints (J): Shoulder (Spherical Joint) → 3 DOFs Elbow, (Hinge Joint) → 1 DOF, Forearm Rotation (Between Radius and Ulna)
→ 1 DOF, Wrist (Two Spherical Joints) → 6 DOFs. Additional forearm joints (between radius, ulna, humerus, and carpal
bones) Based on anatomical constraints, we assume either: 6 forearm joints → These could be complex joints stabilizing
movement. Or 4 forearm joints → A more minimal approach to modeling the closed-chain.

2.4 Assume each of your arms has n degrees of freedom. You are driving a car, your torso is stationary relative
to the car (owing to a tight seatbelt!), and both hands are firmly grasping the wheel, so that your hands do not
move relative to the wheel. How many degrees of freedom does your arms-plus-steering wheel system have?
Explain your answer
Exercise 2.5 Figure 2.15 shows a robot used for human arm rehabilitation. Determine the number of degrees of
freedom of the chain formed by the human arm and the robot

Task Space for the moving baton in the arm of a robot?

 Key Properties:

o Full rotational freedom (unlike tasks with fixed orientation).

o Position-dependent constraints (limited by robot arm reach).

o Continuous motion capabilities (baton spinning indefinitely at different speeds).

Exercise 2.32 Determine whether the following differential constraints are holonomic or nonholonomic:

(a) (1 + cos q1)˙q1 + (1 + cos q2)˙q2 + (cos q1 + cos q2 + 4)˙q3 = 0.

(b) −q˙1cos q2 + ˙q3sin(q1 + q2) − q˙4cos(q1 + q2) = 0

q˙3sin q1 − q˙4 cos q1 = 0

A holonomic constraint can be expressed as a function of configuration variables without involving velocities:

f(q1,q2,…,qn)=0f

A nonholonomic constraint involves velocities and cannot be integrated into an equation purely in terms of
configuration variables.

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