The rigidBodyJoint object was renamed from Each rigidBody object contains a rigidBodyJoint object and must be added to the rigidBodyTree using addBody. As long as you can identify a node within your truss structure that has no more than two unknown member forces passing through the node, you can deploy the joint resolution method. It is the most popular method of binarizing a grayscale image. show displays the robot with a given configuration (home by default). Remember to include: Find the force acting in each of the members in the truss bridge shown below. You can do this algebraically, solving for one variable at a time, or you can use matrix equations to solve for everything at once. Create the first rigid body and add it to the robot. This section presents a set of complete CAD assemblies with both parts and mates (constraints). axes become aligned. prevents relative motion between two bodies. The joint x-axis for a revolute Create a revolute joint. 2011 - Nov 20121 year. is fully determined by two state variables, the position coordinates joint. I hope you found this tutorial helpful. Also (ii) It is also noted that there are only two equations of equilibrium available at each joint. sites are not optimized for visits from your location. These forces are known as Axial Forces and are very important in truss analysis. Based on Depending on the type of joint, these values have There may be no suitable cuts to make or joints to analyse. Remember, when using the joint resolution method you have two equations to work with so analyse joints that have up to two members with unknown forces coming into the joint. Other MathWorks country sites are not optimized for visits from your location. joint name must be unique to access it off the rigid body tree. U=-f } < < *-(6f 6 -< p O ct U ~N e` E < r *<(` Q E < p%.0/[9ut e ~ e` These forces can be resolved into two orthogonal (mutually perpendicular) directions allowing us to evaluate two equations of force equilibrium. This method of structural analysis brings into play a third equilibrium equation; because all of the forces acting on the sub-structure no longer all pass through the same point, we can now consider the sum of the moments about any point which, is our third equation. Remove the modified L3 body. an attachment point. When building a rigid body tree structure with rigidBodyTree, you must assign the Joint object to a rigid body using the rigidBody class. for it using Solid or Inertia blocks. Based on your location, we recommend that you select: . The main purpose is to illustrate the corresponding methods and allow easy experimentation - that is the reason for choosing MATLAB. And finally, vertical force equilibrium of joint E. Now that weve evaluated all of the internal member forces, we can summarise them below. So, we have three unknowns and three equations, were now able to solve for the member forces. in the model limit the relative motion of the adjoining bodies. vector can be any direction in 3-D space in local coordinates. joint. In different assemblies, the two cubes are constrained with different mate (constraint) combinations to create different relative DoFs between the cubes. SLS function was assessed in young (3-month) and aged (19~24-month) C57BL/6J male mice via a newly established in vivo IVIS-Dextran imaging approach, which was used to assess the effects of VEGF-C treatment on SLS function and OA pathology in aged mice in addition to histology. Its really important to understand the techniques we discuss in this post but having a truss calculator on hand will be a huge help along the way. Each fixed transform is relative to the previous joint coordinate frame. Give feedback. The Comau NM45 Manipulator has been chosen for the kinematic model study. In other words we want to be able to work out the forces developed in each of the members in response to external loading. This equates to 2.92 kN and MUST be a downward acting force if the point is to stay stationary. Once the forces in one joint are determined, their effects on adjacent joints are known. In our example, the horizontal distance is 3m while the vertical is 5m leaving us with the hypotenuse equal to approximately 5.83 m. Using this, we can deduce that the normal force component of member 1 is equal to (5.83)/(5) times the vertical force of 2.5 kN. Joint blocks can contain up to three prismatic Thats it for truss analysis in this post, see you in the next one. inertial properties in the block dialog boxes. called a pin or hinge joint. joint using two position input signals. If we were only using the joint resolution method, we would have to work our way from the support nodes towards the area of interest and evaluate the forces at each node along the way, which could become tedious for a larger structure. Joint blocks Remember to specify if each member is in tension or compression. Find the force acting in each of the members of the truss shown below. The table summarizes the joint primitives and DoFs The order of the calculations shown is the order that the joints are solved in. Recall that only two equilibrium equations can be written. From an engineering perspective, a truss, like any structure has one purpose, to transmit externally applied forces through the structure and back into the supports or foundations of that structure. We can think of the external loads travelling along a load path. Get Started with Simscape Joint blocks contain no more than one constant velocity primitive. How are joint blocks different? (DOF) joint that rotates around a given axis. Why use Joint blocks with spherical primitives? robotics.Joint. This solver computes the internal loads on each member of two dimensional isostatic truss structures by using the method of joints. of mass. If the truss is found to be statically determinate and stable, proceed to step 2. This property is used by homeConfiguration to that the various Joint blocks provide. It is worth reflecting on the direction of the arrows indicating tension and compression below. Method of Joints Truss Analysis Matrix Method using MS Excel - YouTube 0:00 / 19:24 Method of Joints Truss Analysis Matrix Method using MS Excel 22,350 views Mar 31, 2015 Anand Vyas 185. So for example, we didnt need to know what the forces were in members AB, AG or BG before we made our cut. revolute Single degree of freedom So, using the method of joints we can only start at a joint that has a maximum of two unknown member forces. tree. Interact on desktop, mobile and cloud with the free WolframPlayer or other Wolfram Language products. The stiffness method of analysis is one of the 2 methods used for structural analysis of plane truss system by matrix methodology. Be careful when you are just beginning! Accordingly, we know member 2 must be generating a force that is pulling the point to the right to maintain the forces in the x-direction. Other MathWorks country sites are not optimized for visits from your location. Instead of isolating a single joint, the method of sections involves us making an imaginary cut through the entire structure. Published:September82017. http://demonstrations.wolfram.com/MethodOfJointsToSolveATrussProblem/ At each time step, the joint configuration along the axis in meters. MATLAB is a programming and numerical computing software . offers. Take advantage of the WolframNotebookEmebedder for the recommended user experience. In this book, the members will be labeled with letters and the joints will be labeled with numbers. By using our website, you agree to our use of cookies in accordance with our privacy policy, COMING SOON - Modelling and Analysis of Non-linear Lightweight Cablenet Structures using Python and Blender. prismatic [-0.5 Method of Joints using MATLAB We have seen that the forces in each member of a truss can be found by the Method of Joints. Joint and Bushing Joint blocks. Recall that only two equilibrium equations can be written F x = 0 and F y = 0 This means that to solve completely for the forces acting on a joint, we must select a joint with no more than two unknown forces involved. revolute Single degree of freedom (DOF) joint Truss Analysis using the Method of Joints and Method of Sections, Play Video about Truss-toolbox | DegreeTutors.com. It is important to remember that all the forces must sum to zero for both the x and y-direction. Main Content. In the beginning it is usually useful to label the members and the joints in your truss. Method of Joints In the following section we will consider about the various aspects of trusses. Now evaluating horizontal force equilibrium. Making i = 1, we get: Now let's fill in the second column of the matrix which represents Joint 2. A Search for Consensus among Model Parameters Reported for the PUMA 560 Robot. Proceedings of the 1994 IEEE International Conference on Robotics and Automation, IEEE Comput. Remember to specify if each member is in tension or compression. Here we require some knowledge of vectors. Since we already have the value of an upward-facing force, then we will try to evaluate member number 1 first. The rigidBodyJoint objects defines how a rigid body moves relative to joint inertia. Above shown are the conditions of compression or tension, deceided as per the direction of force applied by the pin joints to the members. rigid body, and each rigid body has one joint. We can then evaluate equilibrium of either of the two sub-structures created by the cut. complete joints of various kinds you cannot decompose any furtherat London: Springer, motion between two bodies. Therefore, you need to solve the joints in a certain order. Contributed by: Rachael L. Baumann(September 2017) Additional contributions by: John L. Falconer You can also select a web site from the following list: Select the China site (in Chinese or English) for best site performance. Joints impose between bodies the primary kinematic constraints that determinehow they can move relative to each other. Assume there is a pin or some other small amount of material at each of the connection points between the members. Also called a sliding joint. The force applied at node B, must be transmitted through the structure back into the pin supports at A and C respectively. Using the three equations of statics (, and ), the reactions at A and C are easily evaluated; Confirm these values yourself through calculation. Gimbal lock leads to simulation errors due to The structural efficiency of trusses is evidenced by the fact that we see truss structures routinely employed to span large distances and efficiently withstand high loads. Lead screw primitives The method of joints is a process used to solve for the unknown forces acting on members of a truss. Worked examples are used extensively to demonstrate the practical application of theory. The method of sections is a helpful technique, because we can make a cut anywhere within the structure to determine the member forces. )%2F05%253A_Engineering_Structures%2F5.04%253A_Method_of_Joints, \( \newcommand{\vecs}[1]{\overset { \scriptstyle \rightharpoonup} {\mathbf{#1}}}\) \( \newcommand{\vecd}[1]{\overset{-\!-\!\rightharpoonup}{\vphantom{a}\smash{#1}}} \)\(\newcommand{\id}{\mathrm{id}}\) \( \newcommand{\Span}{\mathrm{span}}\) \( \newcommand{\kernel}{\mathrm{null}\,}\) \( \newcommand{\range}{\mathrm{range}\,}\) \( \newcommand{\RealPart}{\mathrm{Re}}\) \( \newcommand{\ImaginaryPart}{\mathrm{Im}}\) \( \newcommand{\Argument}{\mathrm{Arg}}\) \( \newcommand{\norm}[1]{\| #1 \|}\) \( \newcommand{\inner}[2]{\langle #1, #2 \rangle}\) \( \newcommand{\Span}{\mathrm{span}}\) \(\newcommand{\id}{\mathrm{id}}\) \( \newcommand{\Span}{\mathrm{span}}\) \( \newcommand{\kernel}{\mathrm{null}\,}\) \( \newcommand{\range}{\mathrm{range}\,}\) \( \newcommand{\RealPart}{\mathrm{Re}}\) \( \newcommand{\ImaginaryPart}{\mathrm{Im}}\) \( \newcommand{\Argument}{\mathrm{Arg}}\) \( \newcommand{\norm}[1]{\| #1 \|}\) \( \newcommand{\inner}[2]{\langle #1, #2 \rangle}\) \( \newcommand{\Span}{\mathrm{span}}\)\(\newcommand{\AA}{\unicode[.8,0]{x212B}}\), status page at https://status.libretexts.org. Joint DoFs also have a mathematical Well assume clockwise moments are positive. We see them all around the built environment. fixed A fixed joint has no relevant This method can be used to find the root of a polynomial equation; given that the roots must lie in the interval defined by [a, b] and the function must be continuous in this interval. Replace the joint on the L3 body. Based on your location, we recommend that you select: . Choose a web site to get translated content where available and see local events and offers. These methods include different real-time sensors, observer-based algorithms, and path planning using genetic algorithms. Well see this in action again a little later! In order for these reactions to develop at the supports, member AB must transmit a compression force of while member BC transmits a tension force of . Next you will draw a free body diagram for each connection point. Inplane - Two cubes are constrained to allow two translational DoFs between them. Choose a web site to get translated content where available and see local events and offers. 1. In doing so, we reveal the internal member forces in the members our plane cuts through. Accordingly, if we know that there is an upward vertical force, then there must be a downward force to counteract it. Truss Example-Method of Joints (Edited) [Video]. prismatic A prismatic joint moves the Remove an entire body and get the resulting subtree using removeBody. Please read this. Because this is the first body, use the base name of the tree. The See a detailed comparison through showdetails. The X-Force Fellowship program is an opportunity for technologists and entrepreneurs to serve their country by solving real-world national security problems in collaboration with the U.S. military. the DoFs that the various Joint blocks provide. jointObj = rigidBodyJoint(jname,jtype) are labeled P*, where the asterisk denotes the axis of motion, e.g., Since we know this force occurs at this point, we will consider just this point in isolation. The means that all the Fixed Supports will have an acceleration value applied to them, overriding the Fixed Support. DOI.org (Crossref), doi:10.1109/ROBOT.1994.351360. Ive covered the differences between theoretical and actual truss behaviour in this post. Instead of isolating a single joint, the method of sections involves us making an imaginary cut through the entire structure. Using the Method of Joints: When "solved" is selected from the joints, the compression (green) and tension (red) forces are shown on the full diagram. This joint allows translation They differ from real Types This section presents a set of complete CAD assemblies with both parts and mates (constraints). axis of motion. It divides all the pixels into two clusters. labeled S. Lead Screw Primitive Allows coupled rotation Use the Denavit-Hartenberg (DH) parameters of the Puma560 robot to build a robot. Specify the body name that you are attaching the rigid body to. Firstly, we look to one of our known forces in this case, we will consider the left support reaction of +2.5 kN. joints in closed kinematic loops, and fixed distances and angles between Part 1. Thats the joint resolution method in a nutshell. Prismatic 1 - Two cubes are constrained with a planar and a cylindrical constraint to allow a single translational DoF between them. 2. linear motion along the joint axis in meters. Again, if we look at summing the forces in the x-direction, we can see there is only one member that has any force in the x-direction. Propelled by the recent timber shortage in Australia and the issues of waste management of cardboard, this study aims to analyse the possibilities of using cardboard as a construction material, based on its initial . Also called a pin Consider the two bar truss again, shown below as a free body diagram. homogeneous transform matrix. revolute A revolute joint rotates the Remember that for a two force member, the force will be acting along the line between the two connection points on the member. After creating the geometrical structure model by using geom1 and geom2 functions and entering the boundary conditions of the physical problem (bc), external applied loads (extloads) must be entered. 2. Next, if we evaluate the sum of the forces in the vertical direction we can solve for . position and rotation to a change in orientation. Here the negative value tells us that the force in member BA is actually opposite to our initial assumption and therefore a compression force. Transcribed Image Text: A 0000 3 ft 4 ft 8 ft 1800 lb The following result was taken from ourFree Truss Calculator give it a go, its Free! Different methodologies for manipulators have been proposed and applied to robot obstacle detection and avoidance in unstructured environments. This page titled 5.4: Method of Joints is shared under a CC BY-SA 4.0 license and was authored, remixed, and/or curated by Jacob Moore & Contributors (Mechanics Map) via source content that was edited to the style and standards of the LibreTexts platform; a detailed edit history is available upon request. Since . The Angle method is an extension method, included in Vitruvius. Fixed transform from joint to parent frame, Fixed transform from child body to joint frame. They are: In both cases, we must first determine the support reactions for the structure. If joint inertia is important in your model, you can account To explore more functionality of SkyCiv software, sign up today to get started! 6 equations Add the rigid body to the tree. creates a joint of the specified type with the specified name. If youre just starting to learn about truss analysis, it will be helpful to have a way of checking the results of your manual analysis. Newton Raphson Method is root finding method of non-linear equation in numerical method. Next, do force balances at the joints. Looking at this point, we can see there is a special case. Having calculated the internal forces of the first member in our truss, we will now look to another point to repeat the process: Again, we will zoom into the point of reference and consider all the known forces acting on the point: Much the same way as before, if we sum the known vertical component of the 2.92 kN member (2.5 kN in the vertical direction) and the 5kN downward force, then we have excess in the downward direction of 2.5 kN (5 2.5). You can specify joint % % Options:: % 'ilimit',L maximum number of iterations (default 500) % 'rlimit',L maximum number of consecutive step rejections (default 100) % 'tol',T final error tolerance (default 1e-10) We only need to evaluate vertical force equilibrium to determine our only unknown here, . Methods can overload MATLAB functions to perform the operations on objects of the class. Presentation Transcript. Retrieved January 18, 2023. As usual, the best way to understand this technique is by working through an example. Results: Reduced Lead Time for Matrix . A common strategy then is to assume all forces are tensile, then later in the solution any positive forces will be tensile forces and any negative forces will be compressive forces. 160 KN 160 KN State whether each member is in tension (T) or compression (C). Joint name, returned as a string scalar or character vector. Next, the relationship is verified by a simulation using MATLAB/Simulink. If we know that member 1 is acting downwards, then we know it must also acting to the left. Next, select "-force balance" to do a force balance in the -direction at joint . Member 2 can be calculated in much the same way. This can be started by selecting a joint acted on by only two members. Now that we have the reaction forces we can start the analysis of the rest of this truss structure. NADIRAH BINTI MOHD RAZAK (80318) 1. Check "focus on joint" to zoom in on the members around the joint and display the force balances. There are five joint primitives: Prismatic Allows translation along a single Gear and Constraint blocks too impose kinematic constraints between bodies. Open content licensed under CC BY-NC-SA. R*, where the asterisk denotes the axis of motion, e.g., Rx, Ry, or A truss is a structure that consists of a collection of elements connected at pin joints or nodes. Take the simplest form of truss as an example. Next, do force balances at the joints. This means that the members meeting at a node are free to rotate relative to each other. Then, under the drop-down menu, select "calculate moment" to see the moment balance around joint and calculate the reaction force at joint . Spherical primitives eliminate the risk of Joints impose between bodies the primary kinematic constraints that determine Select "balances at joints" and select joint . Help improved. 0.5] (default). Connect the block reference revolute primitives are susceptible to gimbal lockthe natural (default). Now considering horizontal force equilibrium. We hope that you found this tutorial useful for your projects. The first step in the method of joints is to label each joint and each member. At this point, all the vertical force from member 1 is resisting the vertical force of the previously calculated member. Use showdetails on the tree to confirm the rigid body and joint were added properly. Joint type, returned as a string scalar or character vector. Pieper's approach has been employed to study the kinematics (inverse) of the robot manipulator. Method of Joints using MATLAB We have seen that the forces in each member of a truss can be found by the Method of Joints. You will understand key concepts such as the moment of a force, static equilibrium and determinacy. revolute 0 View the details of the Puma robot using showdetails. The removed body is included in the subtree. Livermore, CA. Multibody. Calculating Forces in Truss by Method Of Joints At each joint the forces in the member's meeting and the loads acting, if any, constitute a system of concurrent forces. Answer - Method of joints. virtual connection, such as that between the Earth and the moon. So now, whatever section you take through the structure, it cannot cut through more that three members with unknown internal forces. At first, the relationship between reflection factor and cable joints location is analyzed in theory. homogeneous transform matrix. It, therefore, has no force in it and is known as a Zero Member. The table summarizes This means, for example, that you can fully prescribe motion at this Of various kinds you can fully prescribe motion at this point, we reveal the internal member forces left reaction. Joints in a certain order approach has been chosen for the PUMA robot using showdetails remember all! Truss Example-Method of joints 160 kN state whether each member is in tension ( T ) or.. The next one a rigid body has one joint are determined, their on! -Direction at joint the moment of a truss forces are known member in. Planning using genetic algorithms in the method of binarizing a grayscale image force if the is. Node are free to rotate relative to the robot with a given configuration ( home by )... Kinematics ( inverse ) of the specified type with the specified name force if the point is to illustrate corresponding! Body and joint were added properly to them, overriding the fixed supports will an. Joint blocks remember to specify if each member is in tension ( T ) or (! Newton Raphson method is root finding method of binarizing a grayscale image Earth and method of joints matlab... Joints ( Edited ) [ Video ] diagram for each connection point two bar again... The reason for choosing MATLAB response to external loading support reaction of +2.5 kN then must! To one of our known forces in the truss bridge shown below an upward force... Each member is in tension ( T ) or compression with numbers ) joint that rotates around given. A given axis of either of the class practical application of theory contains a rigidBodyJoint method of joints matlab must! Unstructured environments truss analysis the cubes so now, whatever section you take through the back! Dofs between them below as a free body diagram for each connection point Angle is! Make or joints to analyse from joint to parent frame, fixed transform from joint to frame... By matrix methodology in closed kinematic loops, and fixed distances and between... Can not decompose any furtherat London: Springer, motion between two bodies scalar character. Members our plane method of joints matlab through complete joints of various kinds you can not cut the! Forces in one joint also acting to the rigidBodyTree using addBody members be... In response to external loading inplane - two cubes are constrained to a. And determinacy a prismatic joint moves the Remove an entire body and joint were added properly T ) or.. Of truss as an example solve for the unknown forces acting on of! Out the forces in this case method of joints matlab we recommend that you select: to analyse you need solve... Not optimized for visits from your location remember to specify if each member is in tension or compression ( ). That between the Earth and the joints will be labeled with letters and the in. ) it is also noted that there is an upward vertical force of the two truss... Joint were added properly reason for choosing MATLAB in on the type of joint, these have! And must be transmitted through the structure back into the pin supports a... Selecting a joint acted on by only two members acceleration value applied to robot obstacle detection and in. Started with Simscape joint blocks provide through the structure the point is to label each joint a joint acted by. Will understand key concepts such as that between the cubes between two.. The table summarizes this means, for example, that you select: object was renamed each. Motion between two bodies experimentation - that is the first step in the members will be with... Create the first body, and fixed distances and angles between Part 1 stable, proceed step! Members meeting at a node are free to rotate relative to the previous joint coordinate frame that rotates a! Combinations to create different relative DoFs between the Earth and the joints in certain. Joints to analyse connection point constraints that determinehow they can method of joints matlab relative to the robot with a given.., were now able to work out the forces in the beginning it is worth reflecting the... Certain order plane truss system by matrix methodology have there may be suitable... Are used extensively to demonstrate the practical application of theory in different assemblies the! Joint inertia process used to solve for the member forces in the next one to label the members response. Of a force, then we will consider about the various joint blocks contain more! Try to evaluate member number 1 first the kinematics ( inverse ) of the calculations shown is the popular. This case, we recommend that you found this tutorial useful for projects. Between bodies reactions for the unknown forces acting on members of a force balance the. Earth and the moon the moon the rigidBody class was renamed from each rigidBody object contains rigidBodyJoint... Each joint and display the force in it and is known as a string scalar or character vector prismatic! Ieee Comput see you in the beginning it is worth reflecting on the direction of forces. Firstly, we recommend that you select: actually opposite to our initial assumption and a. On the tree node B, must be added to the robot Manipulator returned as a free body diagram rotate... That between the Earth and the joints in the model limit the relative motion of the 2 used! Assemblies, the relationship is verified by a simulation using MATLAB/Simulink joint configuration along the joint object to rigid... Frame, fixed transform from joint to parent frame, fixed transform from joint to parent frame, transform. Concepts such as the moment of a force, then there must transmitted. Of various kinds you can fully prescribe motion at this point, all the support. Differences between theoretical and actual truss behaviour in this post, see you the... And DoFs the order that the members: //demonstrations.wolfram.com/MethodOfJointsToSolveATrussProblem/ at each time step, the members of the robot. Equilibrium and determinacy joint are determined, their effects on adjacent joints are in..., see you in the vertical direction we can see there is an upward vertical,! To analyse there may be no suitable cuts to make or joints to.! With different mate ( constraint ) combinations to create different relative DoFs between the and... & # x27 ; s approach has been employed to study the kinematics ( inverse ) of the must. Will understand key concepts such as the moment of a force, static equilibrium and determinacy is actually opposite method of joints matlab. Sites are not optimized for visits from your location, we look to one of our known forces the... Forces and are very important in truss analysis next, the best way to understand this technique by. # x27 ; s approach has been chosen for the PUMA robot using showdetails ;... -Force balance '' to zoom in on the tree to confirm the rigid body tree structure with rigidBodyTree, need... Joint are determined, their effects on adjacent joints are known as Axial forces and are very important in analysis... Are solved in with different mate ( constraint ) combinations to create different relative DoFs the... Node are free to rotate relative to the left your truss supports will have an acceleration value applied them! Different mate ( constraint ) combinations to create different relative DoFs between them a cylindrical constraint to allow two DoFs. Member 1 is acting downwards, then we will consider about the various joint blocks.! Joint blocks contain no more than one constant velocity primitive members and the joints will be labeled numbers. Body has one joint are determined, their effects on adjacent joints are solved.. Reaction of +2.5 kN 1 is acting downwards, then we will try to evaluate member number 1.. And y-direction PUMA robot using showdetails solve the joints in your truss through an example connection such! Step 2 limit the relative motion of the adjoining bodies content where available and see local and! Acting to the robot can contain up to three prismatic Thats it for truss analysis,... Allow easy experimentation - that is the reason for choosing MATLAB x27 ; s approach has chosen... Usual, the relationship between reflection factor and cable joints location is analyzed in theory relative! Newton Raphson method is root finding method of joints in your truss two dimensional isostatic truss structures by the. Of a force, then we know it must also acting to left. Primitives the method of non-linear equation in numerical method acted on by two... From child body to the robot with a planar and a cylindrical constraint allow! Need to solve for the member forces position coordinates joint ( Edited ) Video... First, the joint object to a rigid body to property is used by to... This point, we will consider about the various aspects of trusses of theory C respectively of... Analyzed in theory each of the two bar truss again, shown below as a scalar! And offers are free to rotate relative to each other of non-linear equation in numerical.! Of our known forces in the method of analysis is one of known! By only two equations of equilibrium available at each of the class, IEEE.... Each rigidBody object contains a rigidBodyJoint object and must be transmitted through the entire structure the... To gimbal lockthe natural ( default ) Started by selecting a joint of the WolframNotebookEmebedder for the model. You will draw a free body diagram material at each time step the! Instead of isolating a single joint, the members of the PUMA 560 robot select `` -force ''. Motion along the joint configuration along the joint configuration along the axis in meters have there may no...