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Mobility : Planar Mechanisms

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Presentation on theme: "Mobility : Planar Mechanisms"— Presentation transcript:

1 Mobility : Planar Mechanisms
Gruebler/Kutzbach criterion In simple form (no higher pairs) M= 3n-2j-3

2 Mobility for pin joints with multiple links
n links connected by one pin joint implies there are actually (n-1) joints. Imagine considering two links and joining them by a pin. Adding a 3rd link will require a 2nd pin joint, adding a 4th to this combination will mean a 3rd joint and so forth.

3 Mobility : Spatial Kutzbach Criterion for spatial linkages
Mobility criterion for spatial linkages with lower pair only Minimum mobility criterion

4 Examples of Idle degrees of freedom

5 Solved problems 1

6 Solved problem 2

7 Solved problem 3

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