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. Interesting and useful linkages have been designed that violate the mobility formula by using special geometric features and dimensions to provide more mobility than predicted by this formula. These devices are called overconstrained mechanisms. 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.

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Chebychev–Grübler–Kutzbach criterion

Figure shows a rigid body in a plane. To determine the DOF of this body we must consider how many distinct ways the bar can be moved. In a two dimensional plane such as this computer screen, there are 3 DOF. The bar can be translated along the x axis, translated along the y axis, and rotated about its centroid. Figure Degrees of freedom of a rigid body in a plane 4.



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