Four identical SRS arms are grasping a common object as shown below.

a. Find the number of degrees of freedom of this system while the grippers hod the object rigidly (no relative motion between the object and the last links of the SRS arms). Your answer should be an integer.

b. suppose there are now a total of nn such arms grasping the object. What is the number of degrees of freedom of this system? Your answer should be a mathematical expression including nn. Examples of mathematical expressions including nn are 4*n-74∗n−7 or n/3n/3.

c. suppose the revolute joint in each of the nn arms is now replaced by a universal joint. What is the number of degrees of freedom of the overall system? Your answer should be a mathematical expression including nn. Examples of mathematical expressions including nn are 4*n-74∗n−7 or n/3n/3.

Transcribed Image Text:

Spherical Joint Revolute Joint Spherical Joint Revolute Joint