Multi-Body Systems

If a body is composed of several sub-bodies, then the degree of freedom of the multibody system is calculated using the following formula: $3·\mathrm{n}-(\mathrm{r}+\mathrm{v})$ n = number of sub-bodies
r = number of reaction forces
v = number of internal joint forces

Internal Joints

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v+2

v+4

v+6

Meaning of the DoG

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f < 0: statically indeterminate (overconstrained)
f = 0: statically determinate
f > 0: tatically underdetermined (position undefined)