The Bricard mechanism is a classic example of overconstrained system. It is composed by 5 rods of 1 m length with a uniformly distributed mass of 1 kg, and 6 revolute joints. The system is under gravity effects (9.81 N/kg acting in the negative y direction).
Grübler formula gives 0 degrees-of-freedom for this mechanism, but the particular orientation of the revolute pairs yields a system with 1 degree-of-freedom.
The analysis to be performed is a dynamic simulation with a duration of 600 s. Initially, the system is at rest in the position shown in the figure.
The reference solution for this problem is the time-history of the position of point P3 (x, y and z coordinates). The maximun allowed errors are 1.0E-1 (low precission) and 1.0E-3 (high precission), measured with 3000 output steps and a threshold value of 1.0E-3.
The following information is provided: