Sheet 1

Square teeth = $P_l$?

Sometimes it is easier to count Degrees of Freedom directly, but be careful of dependencies

Why is follower $P_2$?

Screw actuator is not allowed to rotate due to Hook's joint, removing $6P_1$ and making the structure constrained

Tricky higher pair

Does the answer here depend on the drawing?

Are the two extreme positions 180 ${}^{\circ }$ apart?

Only in Rocker-output, equal time for go and return - Complex motion and Rocker-output, equal time for go and return - Complex motion configurations

MDP212 - Tutorial 1

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43:28 Redundant link

Not necessary for mechanism to be locked for redundant links to exist

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01:03:59 Sometimes a mechanism is designed to be locked with a removable link that converts the mechanism to constrained

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01:17:46 All gears are (Higher pair) $P_h$

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Link to original