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Robotics and DIY Enthusiasts
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Kunal Gokhe
Kunal Gokhe
Mechanical
22 Jan 2019

How to find DOF for kinematic chain?

To find degree of freedom for any kinematic links or chain. DOF shows how many possible motion in any particular direction. Following formula is used for finding DOF

DOF=3(L-1)-2J-H

L = links, J = joints,  H = Higher Pair