Degrees of Freedom of Motion in Mechanisms

Abstract

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.