Kinematics and Dynamics of Machinery SOLUTION MANUAL 2-49-1

PROBLEM 2-49
Statement: Find the mobility of the mechanism shown in Figure 3-34.

Solution: See Figure 3-34 and Mathcad file P0249.

1. Use equation 2.1c to determine the DOF (mobility). There are 6 links, 7 full pin joints, and no half-joints.

Kutzbach's mobility equation (2.1c)

Number of links L
6
Number of full joints J1 
7
Number of half joints J2 
0

M
 3
( L 1) 2 
J1 J 2 M 1