1. Controllable DOF and total DOF
Degrees of freedom
Aditya Kurniawan, S.ST

2. Mechanical joints
A BASIC of mechanical joints that supportTranslational and
Rotational motion
 Prismatic joint
Surging, Heaving, Swaying
 Revolute joint
Yaw, Pitch, Roll

3. Mechanical joints
Prismatic joint
A prismatic joint (also called sliders) is a one degree of freedom
kinematic pair used in mechanisms.
Prismatic joints provide single-axis sliding function used in places
such as hydraulic and pneumatic cylinders

4. Mechanical joints
Revolute joint
A prismatic joint (also called sliders) is a one degree of freedom
kinematic pair used in mechanisms.
Prismatic joints provide single-axis sliding function used in places
such as hydraulic and pneumatic cylinders

5. Mechanical joints
Revolute joint
A prismatic joint (also called sliders) is a one degree of freedom
kinematic pair used in mechanisms.
Prismatic joints provide single-axis sliding function used in places
such as hydraulic and pneumatic cylinders

6. Mechanical joints
Revolute joint
A prismatic joint (also called sliders) is a one degree of freedom
kinematic pair used in mechanisms.
Prismatic joints provide single-axis sliding function used in places
such as hydraulic and pneumatic cylinders

7. Mechanical joints
Revolute joint
A prismatic joint (also called sliders) is a one degree of freedom
kinematic pair used in mechanisms.
Prismatic joints provide single-axis sliding function used in places
such as hydraulic and pneumatic cylinders

8. Mechanical joints
Revolute joint
A prismatic joint (also called sliders) is a one degree of freedom
kinematic pair used in mechanisms.
Prismatic joints provide single-axis sliding function used in places
such as hydraulic and pneumatic cylinders

9. Mechanical joints
Revolute joint
A prismatic joint (also called sliders) is a one degree of freedom
kinematic pair used in mechanisms.
Prismatic joints provide single-axis sliding function used in places
such as hydraulic and pneumatic cylinders

10. Mechanical joints
Revolute joint
A prismatic joint (also called sliders) is a one degree of freedom
kinematic pair used in mechanisms.
Prismatic joints provide single-axis sliding function used in places
such as hydraulic and pneumatic cylinders

11. Total Degrees of freedom
Is a total of degree freedom (6 possible / available) disposition from
3 translational and 3 rotational motion on 3D space
 3Translational Motion
Surging, Heaving, Swaying
 3 Rotational Motion
Yaw, Pitch, Roll
Z
X
Y
Z
X
Y

12. Total Degrees of freedom
Is a total of degree freedom (6 possible / available) disposition from
3 translational and 3 rotational motion on 3D space
Z
X
Y
Z
X
Y
?
?

13. Total Degrees of freedom
Is a total of degree freedom (6 possible / available) disposition from
3 translational and 3 rotational motion on 3D space
Z
X
Y
Z
X
Y
Surging
Yaw

14. Total Degrees of freedom
Is a total of degree freedom (6 possible / available) disposition from
3 translational and 3 rotational motion on 3D space
Z
X
Y
Z
X
Y
Surging
Yaw
Total DOF = 2

15. Controllable Degrees of freedom
Is a degree freedom (6 potential / available) controllable disposition
Of 3 translational and /or 3 rotational motion on 3D space
 3Translational Motion
Surging, Heaving, Swaying
 3 Rotational Motion
Yaw, Pitch, Roll
Z
X
Y
Z
X
Y
?
?

16. Controllable Degrees of freedom
Is a degree freedom (6 potential / available) controllable disposition
Of 3 translational and /or 3 rotational motion on 3D space
Z
X
Y
Z
X
Y
Motor
rotation

17. Controllable Degrees of freedom
Is a degree freedom (6 potential / available) controllable disposition
Of 3 translational and /or 3 rotational motion on 3D space
Z
X
Y
Z
X
Y
Revolute joint onY axis

18. Controllable Degrees of freedom
Is a degree freedom (6 potential / available) controllable disposition
Of 3 translational and /or 3 rotational motion on 3D space
Z
X
Y
Z
X
Y
Revolute joint onY axis
Controllable DOF = 1

19. Table
Type Controllable
DOF
Total
DOF
Rules Example
Holonomic 3 3 cDOF = tDOF Omnidirectional
wheel
Non Holonomic 1 2 cDOF < tDOF Bicycle diferential
control
Redundant Holonomic 7 6 cDOF > tDOF Human hands

20. Robot TYPE
Motor
rotation
NON HOLONOMIC ROBOT
Total DOF = 2
Rotation about Z axes
Forward
Backward
Controllable DOF = 1
Revolute joint onY axes

21. Robot TYPE Exercise
Total DOF = ?
………………….
………………….
………………….
Controllable DOF = ?
………………….
………………….
………………….

22. Hybrid joint table
Mechanical joint DOF Base joint