QUIZ-01/CLO-1/ITR 01FEB2018(Spring) Time: 6 min

Name: Roll No/Section: / Marks: / 10

1. Given the planar linkage

θ2

θ3 L2
ŷ
L3 L1 θ1
L4
x̂

θ4

Answer the following.

(a) [7 marks] Work out the dof of the C-space using Grübler’s Formula.

Solution:

𝑁 = 4, 𝐽 = 4, 𝑚 = 3, 𝑓𝑖 = 1
∑
4
dof = 𝑚 (𝑁 − 1 − 𝐽 ) + 𝑓𝑖 = 3 (4 − 1 − 4) + 4 = 1
𝑖=1

(b) [3 marks] Express the C-space of the linkage in terms of the joint-wise C-spaces and the set  of all
solutions to the loop-closure equations for the linkage.

Solution: ( 1 )
𝑆 × 𝑆1 × 𝑆1 × 𝑆1 ∩  = 𝑇 4 ∩  = 

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