Abstract
By definition, an overconstrained mechanism is a mechanism for which Grübler’s formula (4.1) yields a degree of freedom F > 0 only because the system of kinematic constraint equations has a sufficiently large defect d > 0. It is known that a simple closed kinematic chain with n < 7 joint variables has a degree of freedom F > 0 only if it is overconstrained. Sections 6.1 – 6.4 are devoted to simple closed chains with four, with five and with six revolute joints. In the remaining Sects. 6.5 – 6.11 other types of overconstrained mechanisms are analyzed.
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© 2016 Springer-Verlag Berlin Heidelberg
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Wittenburg, J. (2016). Overconstrained Mechanisms. In: Kinematics. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-662-48487-6_6
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DOI: https://doi.org/10.1007/978-3-662-48487-6_6
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Online ISBN: 978-3-662-48487-6
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