Abstract
Mechanisms of mobility M>1 have been described as having total mobility if the motion of every possible output member is dependent of all the M independent sources of motion; and partial mobility when only some members are dependent on all these sources. By using the terminology of graph theory earlier work on the classification of mechanisms of mobility M>1 is extended to include those of unlimited size and mobility, and without restriction as to where the input motions are introduced into the mechanisms. These extensions enable general theorems to be presented that concern the structure of many kinematic chains including all those that form mechanisms of mobility one. Other theorems enable the classification to include important mechanisms actuated by power sources that are not fixed to the frame of the mechanism.
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