The Concept of Degrees of Freedom
نویسنده
چکیده
Degree-of-freedom of a general mechanical system is defined as the minimum number of independent variables required to describe its configuration completely. The set of variables (dependent or independent) used to describe a system are termed as the configuration variables. For a mechanism, these can be either Cartesian coordinates of certain points on the mechanism, or the joint angles of the links, or a combination of both. The set of configuration variables form what is known as the configuration space (denoted by C) of the mechanism. The degrees-of-freedom of a mechanical system (denoted by N) may or may not equal the dimension of C (denoted by dim(C)). Consider, e.g., a particle free to move in the XY plane. Clearly, the particle has two degrees-of-freedom, namely: the two independent translations in the plane. These can be completely described by the Cartesian coordinates (x, y), or the planar polar coordinates (r, φ), where:
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