Types of instantaneous centres –

1. Fixed instantaneous centres – The instantaneous

centres I12 and I14 are called the fixed instantaneous
centres as they remain in the same place for all the
configuration of the mechanism.

2. Permanent instantaneous centres- The instantaneous

centres I23 and I34 are the permanent instantaneous
centre as they move when the mechanism moves, but
the joints are of permanent nature.
 3. Moving instantaneous centres- The instantaneous
centres I13 and I24 are neither fixed nor permanent
instantaneous centres as they vary with the
configuration of the mechanism.

Types of centrode-
1. Fixed centrode- the path traced by the moving ICs
when the (first) link is fixed.

2. Moving centrode – path traced by the moving ICs when

the link (third) is fixed.

Application of the centrode-

 The coupler motion which we get using 4-bar
mechanism, can be achieved by using moving and fixed
ICs.
The moving centrode rotates on the fixed centrode in
such a way that its motion is same as that of the
coupler in the 4-bar mechanism.
 So instead of designing 4-bar mechanism we can
design 2-bar mechanism (which are the 2 centrodes).
 In this way we get the desired motion by using just 2-
bar mechanism.