Chebychev–Grübler–Kutzbach criterion (single open chain)

Description

The Chebychev–Grübler–Kutzbach criterion determines the degree of freedom of a kinematic chain, that is, a coupling of rigid bodies by means of mechanical constraints.These devices are also called linkages.The Kutzbach criterion is also called the mobility formula, because it computes the number of parameters that define the configuration of a linkage from the number of links and joints and the degree of freedom at each joint. The mobility formula counts the number of parameters that define the positions of a set of rigid bodies and then reduces this number by the constraints that are imposed by joints connecting these bodies. Joints that connect bodies in this system remove degrees of freedom and reduce mobility. Specifically, hinges and sliders each impose five constraints and therefore remove five degrees of freedom. A single open chain consists of n moving links connected end to end by j joints, with one end connected to a ground link. The mobility of the chain is given by the Chebychev–Grübler–Kutzbach criterion formula ( with N=j+1)