# CalcGrashofType

 CalcGrashofType[linkage]Calculates the type of the four-bar linkage based on Grashof's classification. The function returns the type and the range of the input angles
• CalcGrashofType function is used in the four-bar mechanism synthesis package. The classification is based on the range of movement of the input and output links.
• Given the 3 Grashof constant T1, T2, T3 if the product of the three constant is positive then the fou-bar linkage is called Grashof linkage otherwise it is a non-Grashof linkage
• T1=l0-l1+l2-l3
• T2=l0-l1-l2+l3
• T3=-l0-l1+l2+l3
• The fourbar1 and fourbar2 linkages have one additional linkage record called "\$GrashofConstants". This record contains the definition of the Grashof constraints in a list.
• 4 Grashof linkage classes are defined as follows:
 Name T1 T2 T3 \$CrankRocker + + + \$RockerCrank + - - \$DoubleCrank - - + \$GrashofDoubleRocker - + -
• 4 Non-Grashof linkage classes are defined as follows:
 Name T1 T2 T3 \$00DoubleRocker - - - \$0PiDoubleRocker + + - \$Pi0DoubleRocker + - + \$PiPiDoubleRocker - + +
• 4 fold-able linkage classes are defined as follows:
 Name Condition \$FoldabeCrank T1*T2=0T3>0 \$Foldabe0Rocker T1*T2 ==0 T3<0 \$FoldabePiRocker T1*T2 <0 T3==0 \$FoldabeRhombus T1*T2 ==0 T3==0