Analysis of mechanism, DOF, repeated bonds of mechanism

[Firefriendly]

Analysis of mechanism, DOF, "repeated bonds" of mechanism

Homework Statement

The scheme is incomplete, nevertheless it is the way it is. It is required to determine the number of degrees of freedom for the given mechanism. Also, to find the number of "repeated bonds" (my english is poor) in this mechanism and remove it from the schematic. In other words - to simplify the mechanism by removing some of linkage without loosing any of its functionality.

Homework Equations

DOF: W=3*n-2*p1-p2
n - number of links
p1 - number of kinematic pairs of lower degree (1 DOF)
p2 - number of kinematic pairs of higher degree (2 DOF)
W - number of degrees of freedom

Repeated bonds:
q=W-6*n+5*p1+4*p2
q - number of repeated (unnecesary) bonds
else given above.

The Attempt at a Solution

I find 10 links in the mechanism, and according to my calclulation there are 14 kinematic pairs of lower degree, so W=3*n-2*p1-p2=3*10-2*14-0=2. Now the number of repeated relations: q=W-6*n+5*p1+4*p2=2-6*10+5*14+4*0=12. Okay, but which? I suppose I don't have the engineer's eye on things like this. Please check the calculations, give your oppinion and suggest any links to remove in order to simplify the mechanism.

 

[Valkarie]

The number of DOF is 2 and the number of repeated bonds is 12. To simplify the mechanism, you could remove any two of the links that are connected to a single joint. This would reduce the number of links and the number of kinematic pairs, resulting in fewer DOF and fewer unnecessary bonds.