A tool to check mobility under parameter variations in over-constrained mechanisms

Abstract This paper explores a numerical approach, which determines the number of mobility equations for a family of over-constrained mechanism and generates mobility equations under dimensional parameter variations. These equations can be used to check the mobility of the over-constrained mechanism. They are produced from a specified mobile system and are valid in the neighborhood of nominal mechanisms. This generic approach is applied on Goldberg 5 R linkages.