A Unified Criterion for the Degree of Constraint of Plane Kinematic Chains

Abstract

The degree of freedom or overconstraint of plane kinematic chains is determined by means of an analysis of independent loops. It is shown how the independent loops of a system may be identified and how they may be used to recognize certain special cases which do not fit into the framework of so-called “general formulas.” The independent loops may also be used to systematically formulate the governing kinematic equations of a system. It is shown that the equations so formulated are in general sufficient to solve for all unknown velocities and accelerations.