Project ForgeTheory of Machines
Kinematics of Mechanisms
GATE 2016
Medium
The number of degrees of freedom in a planar mechanism having n links and j simple hinge joints is
- A3(n-3) - 2j
- 3(n-1) - 2j
- C3n - 2j
- D2j - 3n + 4
Explanation
Gruebler's equation for a planar mechanism: DOF = 3(n-1) - 2j (one link is fixed as the frame, each simple hinge removes 2 degrees of freedom).
Source: GATE ME 2016 Set-3 (2016)
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