A tool to check mobility under parameter variations in over-constrained mechanisms

•Determination of the number of mobility equations for over-constrained mechanisms•Mobility equations result from a specified mobile over-constrained mechanism.•Valid in the neighborhood of nominal mechanisms•Check mobility under parameter variations in over-constrained mechanism

This paper explores a numerical approach, which determines the number of mobility equations for a family of over-constrained mechanism and generates mobility equations under dimensional parameter variations. These equations can be used to check the mobility of the over-constrained mechanism. They are produced from a specified mobile system and are valid in the neighborhood of nominal mechanisms. This generic approach is applied on Goldberg 5R linkages.