Detection of a crank in six-link planar mechanisms

The procedures for detecting the existence of a crank in six-link planar mechanisms with prescribed link parameters are discussed. The roles played by different modes of assembly are given due consideration. The procedures are 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 Stephenson’s chain is not possible by the proposed procedure.