Mechanism and Structure

DOF of an assembly of links predicts its

character.
If DOF is positive, it will be a mechanism and
there will be relative motion.
If DOF is zero, it will be a structure and no
relative motion is possible.
If DOF is negative , it will be a preloaded
structure, and no relative motion is possible.

Number Synthesis
Number synthesis is the
determination of number and order
of links and joints necessary to
produce motion of a particular DOF.
Order = no. of nodes per link, like
binary, ternary, quaternary etc.

Example

1 DOF
Number of links, up to 8
Order up to hexagonal.
Full rotating joints.
Hypothesis: If all joints are full joints, an odd
number of DOF requires even number of links and
vice versa.

Even number = 2n or 2m
Odd Number = 2n-1, or 2m-1
Note: n or m must be positive integer.

Let
L = Number of links.
J = Number of joints.
M = Mobility or DOF.
Gruebler Equation for J