kutzbach-audit
Kutzbach's count against the measured mobility
Five closed loops of revolute joints. The count is 6(L − 1) − 5j, a statement about how many links and joints there are; the measurement is the number of joints minus the rank of the loop's screw system, which knows only where the axes point. They disagree for four of the five, and the one they agree on is the generic seven-joint loop — so the formula is not broken, it is blind to the special geometry that makes the other four work. The universal joint is counted at -2 degrees of freedom and is in every car built.
Out of the planewide
Where it is used
- Six freedoms, not three Out of the plane
- The joint that is not constant velocity Out of the plane
- The loops are in the graph Many of one thing
- Sarrus, and the straight line that is exact Out of the plane
- Bennett, and the condition that moves it Out of the plane
- What a mechanism cannot do Out of the plane
- Why a hinge works As built
- In space there is one chain Out of the plane
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