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The Kutzbach criterion is also called the mobility formula, because it computes the number of parameters that define the configuration of a linkage from the number of links and joints and the degree of freedom at each joint.
This linkage clearly consists of eight bars when the ground frame is counted as a bar. The Chebychev–Grübler–Kutzbach criterion shows that an eight-bar linkage must have ten single degree-of-freedom joints, while the Peaucellier linkage appears to have only six hinged joints. This is resolved by noting that four of the hinged joints each ...
Chebychev–Grübler–Kutzbach criterion for the mobility analysis of linkages; Roberts–Chebyshev theorem on the generation of cognate coupler-curves. Other
The degrees of freedom, or mobility, of a kinematic chain is the number of parameters that define the configuration of the chain. [2] [5] A system of n rigid bodies moving in space has 6n degrees of freedom measured relative to a fixed frame. This frame is included in the count of bodies, so that mobility does not depend on link that forms the ...
Kinematics is a subfield of physics and mathematics, developed in classical mechanics, that describes the motion of points, bodies (objects), and systems of bodies (groups of objects) without considering the forces that cause them to move.
The general mobility of a mechanism is the difference between the unconstrained freedom of the links and the number of constraints imposed by the joints. It is described by the Chebychev–Grübler–Kutzbach criterion .
The crank-driven elliptic trammel is an overconstrained mechanism. Trammel of Archimedes with three sliders. In mechanical engineering, an overconstrained mechanism is a linkage that has more degrees of freedom than is predicted by the mobility formula.
Kinematics equations are the constraint equations of a mechanical system such as a robot manipulator that define how input movement at one or more joints specifies the configuration of the device, in order to achieve a task position or end-effector location.