Analytically determine all possible kinematic chains which have the following pr

Question

Analytically determine all possible kinematic chains which have the following properties: Planar and has two degrees of freedom Composed of 10 links Includes one regular gear pair whilst other joints are revolute Links may at most have 4 kinematic pairs For each possible kinematic chain, specify the number of binary, ternary and quaternary links (l2, I3 and l4 respectively) and the number of joints. Sketch at least three of the kinematic chains with distinct characteristics. (Hint: Derive the necessary equations in terms of l4)

Explanation / Answer

post the figure please

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