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

[+] Author and Article Information
B. Paul

Division of Engineering, Brown University, Providence, R. I.

J. Appl. Mech 27(1), 196-200 (Mar 01, 1960) (5 pages) doi:10.1115/1.3643900 History: Received December 16, 1958; Online September 16, 2011


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.

Copyright © 1960 by ASME
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