RESEARCH PAPERS: Mechanisms Papers

Degrees of Freedom of Motion in Mechanisms

[+] Author and Article Information
Cemil Bagci

Department of Mechanical Engineering, Tennessee Technological University, Cookeville, Tenn.

J. Eng. Ind 93(1), 140-148 (Feb 01, 1971) (9 pages) doi:10.1115/1.3427863 History: Received July 27, 1970; Online July 15, 2010


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.

Copyright © 1971 by ASME
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