DOF 2

Examples
Coincident Joints
Exceptions to the Gruebler’s equation
Example 1
Example 2
Example 3
Example 4
Example 5
Example 6
Example 7
Example 7
Example 8
Example 9
Example 10 (Shear press)
Example 11
Example 12
 Coincident Joints
• Some mechanisms have three links that are all
connected at a common pin joint.
• when three links come together at a common
pin, the joint must be modeled as two pins.
Example
Example of Mechanical press
Kinematic diagram and mobility
 Exceptions to the Gruebler’s equation
• Gruebler’s equation for mechanism mobility does not take
into account the specific geometry of the mechanism.
• In rare instances Gruebler’s equation can lead to
misleading results.

(a) n = 5, j = 6, h = 0, m = 0
(b) n = 5, j = 6, h = 0, m = 0
Exceptions to the Gruebler’s equation
• 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.

• A designer must be aware that the mobility

equation can, at times, lead to inconsistencies.
 Idle Degrees of Freedom
• In some mechanisms, links exhibit motion which does not
influence the input and output relationship of the
mechanism.
• Gruebler’s equation specifies two degrees of freedom (4 links,
3 pins, 1 higher-order joint).
• Yet, only the motion of the pivoted link serves as the output
of the mechanism.