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Design a linkage with the following requirements:

(a) 2 degrees of freedom
(b) Uses fewest possible binary and quaternary links (both quaternary and binary must be used).
(c) Consists of no zero-dof structures (e.g. three links attached to each other in a triangle, or a binary link attached to ground at both ends)
(d) Pin joints only

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Answer:

For definite motion in all links, two inputs to any 2 links are required

Explanation:

According to Grubler's equation

F = 3(n-1) - 2l - h

where

h= number of higherr pairs ;

l = number of lower joints   ;

n = number of links             ;

F = Degree of freedom       ;

we have ,

n=5 ; l=5 ; h=0

By putting values we get,

F = 3(5-1) - 2*5 - 0

F = 12-10-0

F = 2

So, in order to yield definite motions in all links 2 inputs in 2 links are required.

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