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:
T3>0
EXAMPLES
Basic Examples 
