Condition Grashof–The Grashof condition for a four-bar linkage states: If the sum of the shortest and longest link of a planar quadrilateral linkage is less than or equal to the sum of the remaining two links, then the shortest link can rotate fully with respect to a neighboring link. In other words, the condition is satisfied if S L ? P Q where S is the shortest link, L is the longest, and P and Q are the other links.
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