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Chebychev–Grübler–Kutzbach criterion
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<p>The <a href="/facts/Pafnuty_Chebyshev/LzRqLqRm">Chebychev</a>–Grübler–Kutzbach criterion determines the number of <a href="/facts/Degrees_of_freedom/D9RKXgml">degrees of freedom</a> of a <a href="/facts/Kinematic_chain/7RTSWjQ9">kinematic chain</a>, that is, a coupling of rigid bodies by means of mechanical constraints. These devices are also called <a href="/facts/Linkage_(mechanical)/mcQPwQdP">linkages</a>. </p><p>The Kutzbach criterion is also called the <i>mobility formula</i>, because it computes the number of parameters that define the configuration of a linkage from the number of links and joints and the degree of freedom at each joint. </p><p>Interesting and useful linkages have been designed that violate the mobility formula by using special geometric features and dimensions to provide more mobility than predicted by this formula. These devices are called <a href="/facts/Overconstrained_mechanism/oGXEauMc">overconstrained mechanisms</a>. </p>