Society of Robots - Robot Forum

Mechanics and Construction => Mechanics and Construction => Topic started by: pratik on April 17, 2009, 11:47:12 AM

Title: How to calculate degree of freedom & centre of gravity of an exploration rover
Post by: pratik on April 17, 2009, 11:47:12 AM

HI Friends ,
               i want to know the formula for calculating the degree of freedom & center of gravity of a rover....

Title: Re: How to calculate degree of freedom & centre of gravity of an exploration rover
Post by: galannthegreat on April 17, 2009, 12:27:39 PM

Can you give a more specific question, that is very vaigue.

Title: Re: How to calculate degree of freedom & centre of gravity of an exploration rover
Post by: Soeren on April 19, 2009, 11:25:01 AM

Hi,

Quote from: pratik on April 17, 2009, 11:47:12 AM

i want to know the formula for calculating the degree of freedom & center of gravity of a rover....

If you have a link like eg. an elbow, that will rotate(/bend) in one plane, it is 1 DOF. If it can rotate in another plane as well, it's 2 DOF and so on - no formula, just plain old counting.

The center of gravity can be found (for a 2D representation) by placing the ROVer with each wheel on a weight (or one wheel at one weight and the other wheels levelled to match in a pinch, if you are short of weighing equipment).
If you need a 3D representation, it gets a bit more complicated to find on the kitchen table.

Title: Re: How to calculate degree of freedom & centre of gravity of an exploration rover
Post by: Admin on May 04, 2009, 04:54:57 PM

My CAD software tells me the center of mass for me . . .

As for DOF, its fairly useless knowledge for a mobile robot on a 3D plane in the real world.