Lecture
This lecture covers the basic concepts of kinematics, including Degree of Freedom (DOF) and Degree of Spatiality (DOS). It explains the mobility of articulated structures and the hyperstaticity degree. Examples of ideal joints and flexure-joints are presented, along with mechanical link symbols. The concept of internal and external DOFs in structures with end-effectors is discussed. Martin Grübler's Mobility theory is introduced, illustrating the mobility of 2D and 3D mechanisms. The lecture also explores the consequences of hyperstaticity, such as geometrical imperfections and stress stiffening effects. A summary of DOFs, DOH, and DOS is provided, emphasizing the importance of ideal geometry in defining the position of segments and joints.