аЯрЁБс > ўџ * , ўџџџ ) џџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџьЅС #` №П џ bjbjЁЁ . У У џ џџ џџ џџ Є Є Є Є Є Є Є Є ј P P P P \ @ Ж _ _ _ П С С С С С С $ і h ^ l х Є _ _ _ _ _ х Є Є л њ _ Є Є П _ П Є Є x EжЧ P { О П 0 @ Ъ 9 @ Ъ Ъ Є 0 _ _ _ _ _ _ _ х х y _ _ _ @ _ _ _ _ D P P И $ м є Є Є Є Є Є Є џџџџ GCMB'07
16 May 07
Linkages worksheet
Definitions:
A strut is a fixed length bar
A linkage is:
2d: planar linkages
1. Consider a triangle ABC with A=(0,0), B=(3,0), and lengths AB=3, BC=4, and CA=5. Where can point C be? (What are the coordinates of C?)
2. Consider a quadrilateral ABCD with A=(0,0), B=(3,0), and lengths AB=3, BC=4, CD=5, and DA =6. Where can point C be?
3. How many numbers (degrees of freedom) are needed to specify where in the plane is
a point? ___ two points? ___ three points? ____
a strut? ___ a triangle? ___ two struts joining three points? ___
4. Make a few linkages that are rigid in the plane. Is there a pattern of their number of vertices and edges?
3d: space linkages
Consider a triangle ABC with A=(0,0), B=(3,0), and lengths AB=3, BC=4, and CA =5. Where can point C be?
2. Consider a quadrilateral ABCD with A=(0,0), B=(3,0), and lengths AB=3, BC=4, CD=5, and DA =6. Where can point C be?
3. How many numbers (degrees of freedom) are needed to specify where in space is
a point? ___ three points? ___ four points? ____
a strut? ___ a triangle? ___ a tetrahedron? ___
4. Make a few linkages that are rigid in space.
Is there a pattern of their number of vertices and edges?
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