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Grashof RRRR

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  Grashofs criterion One extreme configuration. If this configuration is reached, further anticlockwise rotation of crank is  feasible without snapping the coupler.  Another extreme configuration. If this configuration is reached, further clockwise rotation is feasible without  snapping the coupler. 1 2 34  Full rotation of crank (2) One extreme configuration. If this configuration is reached, further anticlockwise rotation of crank is  feasible without snapping the coupler. 1 2 34l 1 + l  2 < l  3 + l 4  Sum of lengths of two sides of a triangle is greater than the third.l 1 + l  2 l 4 l  3  Full rotation of crank (2) 1 2 34 Sum of lengths of two sides of a triangle is greater than the third.l  2  –  l 1 l 4 l  3  Another extreme configuration. If this configuration is reached, further clockwise rotation is feasible without  snapping the coupler. (l  2  –  l 1  ) + l  3 > l 4 (l  2  –  l 1  ) + l 4 > l  3  . Summary of geometrical conditions for full rotation of link 2 l 1 + l  2 < l  3 + l 4 (l  2  –  l 1  ) + l  3 > l 4 (l  2  –  l 1  ) + l 4 > l  3 Full rotation of link(2) Rearranging   terms l 1 + l  2 < l  3 + l 4 l 1 + l 4 < l  3 + l  2 l 1 + l  3 < l 4 + l  2
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