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overcontr
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There are 9 letters in OVERCONTR ( C3E1N1O1R1T1V4 )
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An overconstrained mechanism is a linkage that has more degrees of freedom than is predicted by the mobility formula. The mobility formula evaluates the degree of freedom of a system of rigid bodies that results when constraints are imposed in the form of joints connecting the links. * If the links of the system move in three-dimensional space, then the mobility formula is* * * * M * = * 6 * ( * N * − * 1 * − * j * ) * + * * ∑ * * i * = * 1 * * * j * * * * f * * i * * * , * * * {\displaystyle M=6(N-1-j)+\sum _{i=1}^{j}f_{i},} * where N is the number of links in the system, j is the number of joints, and fi is the degree of freedom of the ith joint. * If the links in the system move planes parallel to a fixed plane, or in concentric spheres about a fixed point, then the mobility formula is * * * * * M * = * 3 * ( * N * − * 1 * − * j * ) * + * * ∑ * * i * = * 1 * * * j * * * * f * * i * * * . * * * {\displaystyle M=3(N-1-j)+\sum _{i=1}^{j}f_{i}.} * If a system of links and joints has mobility M=0 or less, yet still moves, then it is called an overconstrained mechanism. |