Q$-1$ The $7-$link mechanisms shown below has a total of $8$ joints.

a$)$ Draw a kinematic graph representation $($connectivity diagram$)$ of the mechanism. $[24$ pts$.]$

b$)$ Referring to the kinematic graph representation, classify the type of links and the joints $($kinematic pairs$)$ used in the mechanism.

c$)$ Use the equation for mobility with reference to the kinematic graph and determine the mobility M of the mechanism.

$[10$ pts$.]$

SOLUTIONS: Q$-1$

a$)$ Draw a kinematic graph representation $($connectivity diagram$)$ of the mechanism. $[24$ pts$.]$

b$)$ Referring to the kinematic graph representation, classify the type of links and the joints $($kinematic pairs$)$ used in the mechanism.

c$)$ Use the equation for mobility with reference to the kinematic graph and determine the mobility, M $,$ of the mechanism.

Q$-2$ In the two figures $($a$)$ and $($b$)$ below, length dimensions of the linkages are given in $[$mm$].$

a$)$ Label the fixed link, input link, coupler link, and the output link for each of pur reasoning of your