ME 3507: Theory of Machines

Degrees of freedom

Dr. Faraz Junejo

 Degree-of-freedom (DoF)
• Degree of freedom (also called the mobility M)
of a system can be defined as:

• the number of inputs which need to be provided in

order to create a predictable output;

or

• the number of independent parameters required to

specify the location of every link within a mechanism.
 Input = Source of motion
The device that introduces/produces motion
for a mechanism
• Rotary Input
– Usually provided by a motor
• Linear Input
– Usually provided by a linear actuator
– Simply a piston in a cylinder
moved by pneumatic or
hydraulic pressure
 Open & Closed Mechanisms
• Kinematic chains or mechanisms may be
either open or closed.
 Open & Closed Mechanisms (contd.)
• A closed mechanism will have no open attachment
points or nodes and may have one or more degrees
of freedom.

• An open mechanism of more than one link will

always have more than one degree of freedom, thus
requiring as many actuators (motors) as it has DOF.
Ex- Industrial robot
 Determining Degrees of Freedom
• For simple mechanisms calculating DOF is
simple

Closed Mechanism
Open Mechanism
DOF=1
DOF=3
 Four bar Mechanism
• It may be observed that to form a simple closed chain
we need at least three links with three kinematic pairs.

• If any one of these three links is fixed (ground), there

cannot be relative movement and, therefore, it does
not form a mechanism but it becomes a structure
which is completely rigid.
 Four bar Mechanism (contd.)
• Thus, a simplest mechanism consists of four links, each
connected by a kinematic lower pair (revolute etc.), and it
is known as four bar mechanism.

• For example, reciprocating engine mechanism is a planner

mechanism in which link 1 is fixed, link 2 rotates and link 4
reciprocates.
 Reciprocating engine mechanism

• The expansion of burning fuel in the cylinders periodically

pushes the piston down, which, through the connecting rod,
turns the crankshaft.
• The continuing rotation of the crankshaft drives the piston
back up, ready for the next cycle.
• The piston moves in a reciprocating motion, which is
converted into circular motion of the crankshaft, which
ultimately propels the vehicle.
 Degree of Freedom in Planar Mechanisms
• Any link in a plane has 3 DOF. Therefore, a system of L

unconnected links in the same plane will have 3L DOF, as

shown in Figure, where the two unconnected links have a total

of six DOF.
 Degree of Freedom in Planar Mechanisms (contd.)
• When these links are connected by a full joint in as in Figure,

ΔY1 and ΔY2 are combined as ΔY, and Δx1 and Δx2 are

combined as Δx. This removes two DOF, leaving four DOF.

 Degree of Freedom in Planar
Mechanisms

Two unconnected
links: 6 DOF
(each link has 3 DOF)

When connected by a
full joint: 4 DOF
(each full joint
eliminates 2 DOF)
 Degree of Freedom in Planar Mechanisms (contd.)

• In Figure the half joint removes only one DOF from the
system (because a half joint has two DOF), leaving the
system of two links connected by a half joint with a total
of five DOF.
 Another example
 Consider a four bar chain, as shown in figure. A little
consideration will show that only one variable such as Ө is
needed to define the relative positions of all the links.

 In other words, we say that the number of degrees of

freedom of a four bar chain is one.
 Another example (contd.)
 Consider two links AB and CD in a plane motion as shown in
Figure.

 The link AB with coordinate system OXY is taken as the

reference link (or fixed link).
 The position of point P on the moving link CD can be
completely specified by the three variables. i.e. the
coordinates of P denoted by x and y, and inclination θ of link
CD w.r.t. x-axis or link AB.
 Another example (contd.)
 In other words, we can say that each link of a mechanism
has three degrees of freedom before it is connected to
any other link.

 But when the link CD is connected to the link A B by a

turning pair at A, the position of link CD is now
determined by a single variable θ and thus has one
degree of freedom.

 We have seen that when a link is connected to a fixed link

by a turning pair (i.e. lower pair), two degrees of freedom
are destroyed.
 Another example (contd.)
 We have seen that when a link is connected to a fixed link by a
turning pair (i.e. lower pair), two degrees of freedom are
destroyed.

 This may be clearly understood from Figure given below, in

which the resulting four bar mechanism has one degree of
freedom.
 Determining DoF’s
• Now let us consider a plane mechanism with I
number of links.

• Since in a mechanism, one of the links is to be

fixed, therefore the number of movable links
will be (I - 1) and thus the total number of
degrees of freedom will be 3 (I - 1) before they
are connected to any other link.
 Determining DoF’s
• In general, a mechanism with l number of links
connected by j number of binary joints or lower pairs
(i.e. single degree of freedom pairs) and h number of
higher pairs (i.e. two degree of freedom pairs), then the
number of degrees of freedom of a mechanism is given
by
M = 3 (I - 1) - 2j – h
• This equation is called Gruebler’s criterion for the
movability of a mechanism having plane motion.
• If there are no two degree of freedom pairs (i.e. higher
pairs), then h = 0. Substituting h = 0 in equation, we have
M = 3 (I - 1) - 2j
• Gruebler’s equation for planar mechanisms
M = 3 (I - 1) - 2j
• Note that the value of j must reflect the value of all joints
in the mechanism; i.e. half joints count as 0.5 b/c they
only remove 1 DOF. A modified form of Gruebler’s
equation for clarity is known as Kutzbach’s
modification, which take into account full and half joints
separately;
M = 3 (L – 1) - 2J1- J2
Where
J1= Number of 1 DOF (full) joints
J2= Number of 2 DOF (half) joints
 Important Note !!

It should be noted that

Gruebler’s/Kutzbach’s equation has no
information in it about link sizes or
shapes, only their quantity.
 Mechanisms and Structures
• If DoF > 0, it’s a mechanism
• If DoF = 0, it’s a statically determinate structure
• If DoF < 0. it’s a statically in-determinate structure
i.e. preloaded structure (will have built in stresses
with manufacturing error)
M  3 L  1  2 J

Delta Triplet (Truss)

 Preloaded Structure
• Preloaded Structure – DOF<0, may
require force to assemble

 In order to insert the two pins without straining the links, the
center distances of the holes in both links must be exactly the
same, which is practically impossible, therefore require force
to assemble causing stress in links
 Calculate mobility of various
configurations of connected links
Kutzbach’s criterion of mobility
M = 3 (L – 1) - 2J1- J2

L = 3, J1= 3, j2=0  M= 0; implying that this system of

links is not a mechanism, but a structure.

L = 4, J1= 4, j2=0  M= 1;
implying system of
interconnected links in has
mobility 1, which means that
any link can be used as input link
(driver) in this mechanism.
 Calculate mobility of various
configurations of connected links
L = 4, J1= 4, j2=0  M= 1;
implying system of
interconnected links in has
mobility 1, which means that
any link can be used as input link
(driver) in this mechanism.

L = 5, J1= 5, j2=0  M= 2;
implying system of
interconnected links in has
mobility 2, which means that
any two links can be used as
input links (drivers) in this
mechanism.
 Example: 1
• Determine the degrees of freedom or
movability of mechanisms having no higher
pair (i.e. h = 0)
Mechanisms with higher pair
 Mechanisms with higher pair (contd.)

 Here it has been assumed that the slipping is possible between

the links (i.e. between the wheel and the fixed link).
However if the friction at the contact is high enough to prevent
slipping, the joint will be counted as one degree of freedom pair,
because only one relative motion will be possible between the
links.
 Example- driving car on dry & Icy road.
 Example: 2

L= number of links = 8; J= number f full joints = 10  DOF = 1

Note: Multiple joints count as one less than the number of links joined at that joint
and add to the "full" (J1) category
 Example: 3

L= number of links = 6
J= number f full joints = 7.5  DOF = 0
 Example: 4
• How many degrees of freedom does the
following mechanism have

Half Joint

L= number of links = 6
J1= number of full joints = 6 &
J2= number of half joints = 1  DOF = 2
 Example: 5
• How many degrees of freedom does the
following mechanism have

Multiple Joint

L= number of links = 10
J1= number of full joints = 13 &
J2= number of half joints = 0  DOF = 1
 Exercise: 1
• Determine the degrees of freedom of a six bar linkage.
 Exercise: 1 (contd.)
• There are four binary links and two ternary links (i.e.
link 1 & 3). The number of joints are (you can count
them directly or use the following formula)

• According to Gruebler/Kutzbach equation

M = 3 (6 – 1) – 2 x 7 = 1
• Thus, this linkage has one degree of freedom.
• If the link 1 is fixed to a frame and the link 2 is
driven by a motor, the motions of the rest of the
links 3 to 6 will be unique.
 Exercise: 2
• Determine the degrees of freedom of a eight bar linkage.
 Exercise: 2 (contd.)
• There are five binary links (n2 = 5), two ternary links (n3
= 2) and one quaternary link (n4 = 1). Thus, number of
joints are

• According to Gruebler/Kutzbach equation

M = 3 (8 – 1) – 2 x 10 = 1

• Thus, this linkage has also one degree of freedom.

If the link 1 is fixed to a frame and the link 2 is driven by a motor,
the motions of the rest of the links 3 to 8 will be unique.
 Exercise: 3
• Now lets consider a seven bar mechanism.

The number of degrees of freedom can be shown to be two.

If the link 1 is fixed to a frame, we need two inputs, e.g., links 2 and 5 to
be driven, and then the motions of the rest of the links 3, 4, 6 and 7 will
be unique.
 Exercise: 4
• Now lets consider a Six bar mechanism.

Here link 6 have a sliding motion on the fixed frame link 1.

There are two binary links, 3 and 6; the remaining four are ternary links.
The fixed link 1 has two lower pairs (hinges) and one higher pair with link 6;
which has a lower pair with link 5, therefore it is a ternary link.
The number of joints (lower pairs) are j = 7 and there is one higher pair h = 1.
Hence M = 3 (6 – 1) – 2 x 7 - 1 = 0
 Exercise: 1 - 4
Preceding exercises should helps us in:
• setting up a number of links with an
appropriate number of elementary pairs,
lower or higher to obtain a desired motion of
a new machine or analyze an existing
machine.
 Exercise: 5
• Determine the d.o.f or mobility of the planar
mechanism illustrated below
• The link numbers and the joint types for the mechanism are
illustrated above. The number of links is n = 5, the number of
lower pairs is j1 = 5, and the number of higher pairs is h or j2 =
1. Substituting these values into the Kutzbach criterion, the
mobility of the mechanism is

M = 3 (5 – 1) – 2 x 5 – 1 = 1
that is, a single input motion is required to gives unique output
motion.
 Exercise: 6
• Determine the d.o.f or mobility of the planar
mechanism illustrated below
 Exercise: 6 (contd.)
• The number of links
is n = 5, the number
of lower pairs is j1 =
5, and the number
of higher pairs is h
or j2 = 1.
Substituting these
values into the
Kutzbach criterion,
the mobility of the
mechanism is

M = 3 (5 – 1) – 2 x 5 – 1 = 1
 Exercise: 7
• A proposed aircraft landing gear is shown below. How many
degrees of freedom does the following mechanism have?
Include the wheel in your analysis.
 Exercise: 7 (contd.)
• A proposed aircraft landing gear is shown below. How many
degrees of freedom does the following mechanism have?
Include the wheel in your analysis.
• The number of links is
n = 8, the number of
lower pairs is j1 = 9,
and the number of
Half Joint
higher pairs is h or j2 =
1 (considering the
wheel has 1 dof i.e. no
slipping) . Substituting
these values into the
Kutzbach criterion, the
mobility of the
mechanism is
M = 3 (8 – 1) – 2 x 9 – 1 = 2
 Exercise: 8
• How many degrees of freedom does the following
mechanism have? The circles represent gears in
mesh.

Half Joint
Half Joint

L= number of links = 6
J1= number of full joints = 5 &
J2= number of half joints = 2  DOF = 3
 Exercise: 9
• How many degrees of freedom does the following
mechanism have?
Half Joint

L= number of links = 6
J1= number of full joints = 6 &
J2= number of half joints = 1  DOF = 2
 Exercise: 10
• How many degrees of freedom does the following
mechanism have?

Half Joint

L= number of links = 5
J1= number of full joints = 5 &
J2= number of half joints = 1  DOF = 1
 Exercise: 11
• If position information is available for all points in the planar
linkage shown below, can all of the velocities be determined
uniquely if the value of w is given?
L= number of links = 7
Slider Joint 2 J1= number of full joints = 8
J2= number of half
1 joints = 0  DOF = 2
3 5
6
Slider Joint

4
7

1 1

Therefore, the answer to the problem is no. The mechanism has

two degrees of freedom, and two independent input variables
must be specified before all of the velocities can be determined.
 Exercise: 12

Multiple Joint

Multiple Joint

L= number of links = 11
J1= number of full joints = 14
J2= number of half joints = 0  DOF = 2
 Exercise: 13

L= number of links = 6
J1= number of full joints = 7
J2= number of half joints = 0  DOF = 1
 Grubler's criterion for plane
mechanisms
• A little consideration will show that a plane mechanism
with a movability of 1 and only single degree of
freedom joints i.e. full joints can not have odd number
of links. Substituting n = 1 and h = 0 in Kutzbach’s
equation, we have
1 = 3 (l— 1) — 2 j or 3l— 2j— 4 = 0
• This equation is known as the Grubler's criterion for
plane mechanisms with constrained motion.
• The simplest possible mechanisms of this type are a
four bar mechanism and a slider-crank mechanism in
which l= 4 and j= 4.
 Degree of Freedom Paradoxes
• Gruebler’s equation does not account for link
geometry (i.e. shape or size), in rare instance it can
lead to misleading result
 Degree of Freedom Paradoxes (contd.)

The “E-quintet” (b/c of its

resemblance to capital letter
E) is an example in which If
three binary links happen to
have equal length, the joints
of a middle link do not
constrain the mechanism any
more than the outer links. The
equation predicts DOF = 0, but
the mechanism has DOF = 1.
• If all pivoted links were the same size, and the distance
between the joints on the frame and coupler were identical,
this mechanism would be capable of motion, with one degree
of freedom.

• The center link is redundant, and because it is identical in

length to the other two links attached to the frame, it does
not alter the action of the linkage.
 Another Example

There are 3 links and 3 full joints, from which Gruebler's

equation predicts zero DOF.

However, this linkage does move (actual DOF = 1), because

the center distance, or length of link 1 i.e. ground link, is
exactly equal to the sum of the radii of the two wheels.
 Link Classification
 Ground or fixed Link: fixed w.r.t. reference
frame

 Input [Driving] Link : Link where by motion

and force are imparted to a mechanism

 Output [Driven] Link : Link from which

required motion and forces are obtained
Link Classification
 Link Classification (contd.)
 Crank Link: pivoted to ground, makes complete
revolutions; i.e. Link that rotates completely about a
fixed axis

 Rocker Link: pivoted to ground, has oscillatory

(back & forth) motion

 Coupler Link: aka connecting rod, is not directly

connected to the fixed link or frame, it in effect
connects inputs & outputs
 Four Bar Mechanism
• Four bar mechanism consists of four rigid
links connected in a loop by four one degree
of freedom joints.

• A joint may be either a revolute, that is a

hinged joint, denoted by R, or a prismatic, as
sliding joint, denoted by P.
 Four Bar Mechanism (contd.)

A link that makes complete revolution is called crank

(r2), the link opposite to the fixed link is the coupler (r3)
and forth link (r4) is a rocker if oscillates or another
crank if rotates.
Four bar door damper linkage
 Four Bar Mechanism (contd.)

Brake of a Wheelchair Folding sofa

Four Bar Mechanism (contd.)

Backhoe Excavator
 Kinematic Inversion
• The process of choosing different links of a
kinematic chain as the fixed or ground link, for
generating new mechanisms is called
Kinematic Inversion
 Kinematic Inversion (contd.)
• Thus there are as many inversions of a given
linkage as it has links.

• It should be noted that, the relative motion

b/w various links are not altered, but their
absolute motions (those measured w.r.t. fixed
link) may change dramatically.
 Mechanism Classification
• Crank-rocker mechanism (aka Crank-lever mechanism): In
a four bar linkage, if the shortest link is configured adjacent
to the frame, If this shortest link is continuously rotated, the
output link will oscillate between limits.
Crank-rocker mechanism
Beam Engine Mechanism
 Mechanism Classification (contd.)
• Double-crank mechanism: If a four bar linkage has the shortest
link of the four-bar mechanism configured as the frame. If one
of the pivoted links is rotated continuously, the other pivoted
link will also rotate continuously.
 Mechanism Classification (contd.)
• Double-rocker mechanism: It has the link opposite the shortest
link of the four-bar mechanism configured as the frame. In this
configuration, neither link connected to the frame will be able to
complete a full revolution.

Thus, both input and

output links are
constrained to oscillate
between limits, and are
called rockers.
 Do-it-yourself four bar linkage mechanism
• Let's make a simple mechanism with similar behavior
to that of wiper mechanism.
• Take some cardboard and make four strips as shown
in Figure a.
• Take 4 pins and assemble them as shown in Figure b.
Do-it-yourself four bar linkage mechanism
(contd.)
• Now, hold the 6in. strip (i.e. fixed link) so it
can't move and turn the 3in. Strip (i.e. input-
crank link) . You will see that the 4in. strip
(output – rocker link) oscillates.
 Examples: Slider-crank Mechanism
This mechanism is composed of three important
parts:
 The crank which is the rotating disc, the slider which slides
inside the tube and the connecting rod which joins the parts
together.
 Slider-crank Mechanism (contd.)
As the slider moves to the right the connecting rod pushes the
wheel round for the first 180 degrees of wheel rotation.

When the slider begins to move back into the tube, the
connecting rod pulls the wheel round to complete the rotation.

Animation : http://www.technologystudent.com/cams/crkslid1.htm
 Quick Return Mechanism
• A quick return mechanism such as the one seen below is used
where there is a need to convert rotary motion into
reciprocating motion.

http://www.technologystudent.com/cams/crank1.htm

• As the disc rotates the black slide moves forwards and

backwards. Many machines have this type of mechanism ,
such as shaping machine.
 Example: Shaping Machine
• As the disc rotates the top of the machine moves forwards
and backwards, pushing a cutting tool.

• Animation:
http://www.technologystudent.com/cams/crank2.htm
Example: crank, connecting rod and
piston mechanism
 Example: crank, connecting rod and
piston mechanism (contd.)
• If the crank is turned, angular motion is converted
into linear motion of the piston and input torque is
transformed into force on the piston.

• If the piston is forced to move, the linear motion is

converted into rotary motion and the force into
torque.

• Thus, the crank and connecting rod are connected

via a revolute joint, whereas cylinder and piston are
connected via a prismatic joint.
 Linkage transformation

• The crank-slider (right) is a transformation of the fourbar

crank rocker, by replacing the revolute joint at the rocker
pivot by a prismatic joint, maintaining the same one
degree of freedom. Note, slider block is actually Link 4.
 Linkage transformation (contd.)

• Replacing revolute joints in any loop by prismatic

joints does not change the DOF, provided that at
least two revolute joints remain in the loop
 Inversions of slider-crank linkage
• Figure shows the four inversions of the fourbar
slider-crank linkage, all of which have distinct
motions.
Animation
• The four links -
crank (in
green), coupler
(in red), slider
(in blue), and
track (in black) -
are successively
fixed (shown
with an anchor)
in each of the
inversion.
Animation
• The four links -
crank (in
green), coupler
(in red), slider
(in blue), and
track (in black) -
are successively
fixed (shown
with an anchor)
in each of the
inversion.
 Inversion # 1
• Inversion #1, with link 1 as
ground and its slider block in
pure translation, is the most
commonly seen and is used for
producing rotary motion of the
wheels, crank etc.

Reciprocating engine mechanism

 Inversion # 2

• Inversion #2 is obtained by
grounding link 2 and gives
the Whitworth or crank-
shaper quick-return
mechanism, in which the
slider block has complex
motion.
 Inversion # 3

• Inversion #3 is obtained by
grounding link 3 and gives
the slider block pure
rotation.
 Inversion # 4
2
• Inversion #4 is obtained
by grounding the slider
link 4 and is used in hand 3
operated, well pump 1
mechanisms, in which
the handle is link 2
4
(extended) and link 1
passes down the well
pipe to mount a piston on
its bottom. (It is upside
down in the figure.)
A mechanism that drives a manual water pump is
shown below

Because the slider-crank mechanism has one degree of freedom, it is constrained

or fully operated with one driver.

The pump in above figure is activated manually by pushing on the handle (link 3).
 Grashof’s Law
• The Grashof Condition is a relationship that
predicts the rotation behavior of the
inversions of a fourbar linkage based only on
the lengths of the links:
• S = length of shortest link
• L = length of longest link
• P = length of one remaining link
• Q = length of other remaining link
 Grashof’s Law (contd.)

If S+L ≤ P+Q the linkage is Grashof :at least

one link is capable of making a complete
revolution

Otherwise the linkage is non-Grashof : no

link is capable of making a complete revolution
 Do you Remember !!!

• Now, hold the 6in. strip (i.e. fixed link) so it

can't move and turn the 3in. Strip (i.e. input-
crank link) . You will see that the 4in. strip
(output – rocker link) oscillates.
 Grashof’s Law (contd.)
• It should be noted that nothing in Grashof's law
specifies the order in which the links are to be
connected or which link of the four-bar chain is
fixed.

• That is, the determination of the Grashof’s

condition can be made on a set of unassembled
links.

• Whether they are later assembled into a

kinematic chain in S, L, P, Q, or S, P, L, Q or any
other order, will not change the Grashof’s
condition.
 Grashof’s Law (contd.)
• We are free, therefore to fix or ground any of the
four links.

• When we do so, we create the four inversions of the

four linkage illustrated in next slide.

• The motions possible from a fourbar linkage will

depend on both the Grashof condition and the
inversion chosen. The inversions will be defined with
respect to the shortest link.
 For S+L<P+Q
• Crank-rocker if either link adjacent to shortest is grounded
• Double crank if shortest link is grounded
• Double rocker if link opposite to shortest is grounded
 Grashof’s Law (contd.)
• All of these (inversions shown on previous slide) fit
Grashof's law, and in each the link s makes complete
revolution relative to the other links.

• The different inversions are distinguished by the

location of the link s relative to the fixed link.
 If we pay attention !!
• There are as many inversions as links, but not
all inversions will have distinct motions.

• For example, a Grashof Fourbar has only 3

distinct inversions, 2 crank-rockers, 1 double-
crank, and 1 double-rocker as shown in earlier
slide.
 For S+L > P+Q
• All inversions will be triple rockers
• No link can fully rotate
 Example: 1
• Determine whether the four-bar linkage illustrated below is
a crank-rocker four-bar linkage, a double-rocker four-bar
linkage or double-crank four-bar linkage.
 Example: 1 (contd.)
• Substituting the link lengths into Grashof’s Eq: gives

3 in  6 in  4 in  5 in
9 in  9 in

• Therefore, the given four-bar linkage satisfies Grashof’s law;

that is, the linkage is a Grashof four-bar linkage.

• Because the shortest link of the four-bar linkage is grounded,

the two links adjacent to the shortest link can both rotate
continuously (as shown earlier) and both are properly
described as cranks.

• Therefore, this four-bar linkage is a double-crank

 Exercise: 1
• Determine whether the four-bar linkage
illustrated below is a crank-rocker, a double-
rocker or double-crank four-bar linkage.

(a) crank-rocker (b) triple-rocker (a) double-crank

 Exercise: 2
• You are given a set of three links with lengths
2.4 in, 7.2 in, and 3.4 in.
• Determine the range of the length of the fixed
link such that it is a crank-rocker mechanism.
 Exercise: 2 (sol)
• You are given a set of three links with lengths
2.4 in, 7.2 in, and 3.4 in.
• Determine the range of the length of the fixed
link such that it is a crank-rocker mechanism.
• Since, either link adjacent to shortest link can
be fixed to produce crank-rocker
configuration, hence

6.2 in  r  8.2 in
 Exercise: 3
• Determine which (if either) of the following linkages
can be driven by a constant-velocity motor. For the
linkage(s) that can be driven by the motor, indicate
the driver link.

(a) Yes, if the 2” link is the driver, it is a crank - rocker mechanism.

(b) Yes, if the 2” link is the driver, it is a crank - rocker mechanism.
 Exercise: 4
• Assume that you have a set of links of the
following lengths:
• 2 in, 4 in, 5 in, 6 in, 10 in.
• Design a 4- bar linkage that can be driven with
a continuously rotating electric motor.
• Justify your answer with appropriate
equations, and make a scaled drawing of the
linkage. Label the crank, frame, coupler, and
rocker
 Exercise: 5
• If the link lengths of a four-bar linkage are:
L1 = 1 mm, L2 = 3 mm, L3 = 4 mm, and L4 = 5 mm

and link 1 is fixed, what type of four-bar linkage

is it?
• Also, is the linkage a Grashof type or non-
Grashof linkage?
 Exercise: 5 (contd.)
• Substituting the link lengths into Grashof’s Eq: gives

1 mm  5 mm  3 mm  4 mm
6 mm  7mm
• Therefore, the given four-bar linkage satisfies Grashof’s law;
that is, the linkage is a Grashof four-bar linkage.

• Because the shortest link of the four-bar linkage is grounded,

the two links adjacent to the shortest link can both rotate
continuously (as shown earlier) and both are properly
described as cranks.

• Therefore, this four-bar linkage is a double-crank

 Exercise: 6
• You are given two sets of links. Select four
links from each set such that the coupler can
rotate fully with respect to the others.
• Sketch the linkage and identify the type of
four-bar mechanism.
a. L1 = 5”, L2 = 8”, L3 = 15”, L4 = 19”, and L5 = 28”

b. L1 = 5”, L2 = 2”, L3 = 4”, L4 = 3.5”, and L5 = 2.5”