Student Name_{!€ (em ID Number. Ma 304-3 4 et Tutorial Question 1 (Al solutions to be submitted at end of Tutorial session) Meo Determine the mobility (number of degrees of freedom) of the devices shown in the following figures. (2 D) n=4 = m=3(4-54? Figure 1 M=3(e-«4-D+¢= | n=3, 9=3 =f ‘Common tangent Figure 3 meztn-j~ tS S33 + Y 2 2h jee Ma8h aah n M=0 7 i Figure 5 we; =, a aa oni ov a tI a) ! Figure7 128 | Figure 8 M=3(C4-1) to = 2 Mess sat Se = 3( 7-0-1) tro =-92m=3 Determine the mobility (number of degrees of freedom) of the devices shown in the following figures. Figure 9 M=3(n-j-1y + SF = 3(i2--1) 3|¥ ME3C jt Sf Fabs S17 47 = | DH = 3Fit9fe =G97Example 4 Determine the mobility of the linkage shown in the following figure. The linkage is planar and not all of the joints have connectivity one. £ a peg reba ons: — I Seth i ) ) = iG SF5 6 Cf) + 200+ S41 Fe = 6te tate ‘ Soe 2 £, _ A= n-j-( )+ - M= 3 C= jit) =f, tsmahc joint ; Ciel = 3( =e) HS = - (tte 1 = Revolute joint > (pure rotation )