How many DOF that the arm contains?

Lynxmotion Robot Arms
1

hi,
I bought AL5B arm without wrist rotation,it has 4 DOF i then add wrist rotation. The DOF now is 5 DOF. the question is : Does the gripper considered to be the sixth DOF? or not

2

No, the gripper is the end effector.

3

I think of it this way. DOF means degree of freedom. The end effector is the tool that is being moved by the robot arm. Whether it is a glue gun, or a welder, or vacuum or a gripper, it has nothing to do with it’s position in 3D space. So DOF are the parts that move the end effector. :wink:

4

Adding the rotation option to the gripped should be considered another DOF though.