Detection of a crank in six-link planar mechanisms

The procedures for detecting the existence of a crank in six-link planar me chanisms with prescribed link parameters are discussed. The roles played by different modes of assembly are given due consideration. The procedures ar e found to be quite different depending on whether the mechanism is derived from a Watt's or a Stephenson's chain. Numerical results are included. The detection of a crank in a particular type of mechanism arising out of a St ephenson's chain is not possible by the proposed procedure. (C) 2000 Elsevi er Science Ltd. All rights reserved.