The degree of freedom or overconstraint of plane kinematic chains is determined by means of an analysis of independent loops. It is shown how the independent loops of a system may be identified and how they may be used to recognize certain special cases which do not fit into the framework of so-called “general formulas.” The independent loops may also be used to systematically formulate the governing kinematic equations of a system. It is shown that the equations so formulated are in general sufficient to solve for all unknown velocities and accelerations.
A Unified Criterion for the Degree of Constraint of Plane Kinematic Chains
Division of Engineering, Brown University, Providence, R. I.
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Paul, B. (March 1, 1960). "A Unified Criterion for the Degree of Constraint of Plane Kinematic Chains." ASME. J. Appl. Mech. March 1960; 27(1): 196–200. https://doi.org/10.1115/1.3643900
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