Discussion
The Gruebler's criterion for determining the degrees of Freedom (F) of a mechanism having 'n' links and 'p' pairs is given by:
Answer: D
Gruebler's criterion is F = 3(n - 1) - 2p.
Each of the n links of a planar mechanism has 3 degrees of freedom, but one link is fixed as the frame, leaving \(3(n - 1)\). Each lower pair removes 2 of them.
\[ \begin{aligned} F &= 3(n - 1) - 2p \end{aligned} \]
The '+2p' versions add freedom for each joint, which is backwards, and '(n + 1)' counts the fixed link as moving. For a four-bar chain, \(3(4 - 1) - 2 \times 4 = 1\), as expected.
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