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November 15, 2012

Planar Kinematic Loop – An Example

Let us start with an example of a planar kinematic loop:

Each of the revolute joints defines one mechanical degree of freedom.

The prismatic joint takes two of these degrees of freedom away.

A closed kinematic loop is being formed by three of the revolute joints, two fixed translations, and the prismatic joint.

We need to break that loop somewhere.

closed kinematic loop

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