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Jennifer Clark wrote:
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> How many DOF does a normal tracked vehicle have? What about a Killough platform?
Here I go, tossing my 2 cents in to the fray:
I would say that any differential drive on a flat surface has 3 DOF:
-Assume it drives along the X axis (thats 1)
-it can rotate around the Z axis (2 now)
-once it rotates it can drive along the y axis (3!)
So we have translation on two axes, and rotation around one. 1+2=3.
A Killough platform (which is also a sort of differential drive!) also
has the same three degrees of freedom.
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Message has 1 Reply:
 | | Re: articulation points?
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| (...) Exactly. Another way to look at DOF is that it is the number of things that have to be specified to define a particular configuration of the system. In other words how many RCX outputs does it take to drive. Another thing to keep in mind is (...) (22 years ago, 22-Nov-02, to lugnet.robotics, lugnet.build.mecha, lugnet.technic)
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Message is in Reply To:
| | Re: articulation points?
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| (...) I think you've hit the nail on the head here Eric. To me, the most logical way of looking at a robot arm would be from the point of view of the end effector, i.e. what it can and cannot do. The way the arm moves to get there may be of less (...) (22 years ago, 20-Nov-02, to lugnet.robotics, lugnet.build.mecha, lugnet.technic)
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