Theory of Machines

Kinematics Fundamentals
• It is less confusing if we use Kutzbach’s modification of
Gruebler’s equation in this form

M=3(L-1)-2J1-J2
where M= degree of freedom or mobility
L=number of links
J1=number of 1 DOF joints
J2=number of 2 DOF joints
Where would you see 4-bar mechanisms?

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Sheet Metal Shear (Mechanical Workshop)
Door Mechanism

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Brake of a Wheelchair Folding sofa

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