The general form of the mobility equation is presented, which predicts the number of inputs required to drive a multiloop mechanism having redundant freedoms, passive freedoms, different general constraints in different loops, and groups of loops having over-closing constraints. Redundant freedoms, passive freedoms, general constraints, over-closing constraints are described, and the use of the mobility equation is illustrated through numerous examples. A method of identifying the class of a mechanism is also given.
Degrees of Freedom of Motion in Mechanisms
Department of Mechanical Engineering, Tennessee Technological University, Cookeville, Tenn.
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Bagci, C. (February 1, 1971). "Degrees of Freedom of Motion in Mechanisms." ASME. J. Eng. Ind. February 1971; 93(1): 140–148. doi: https://doi.org/10.1115/1.3427863
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