Table2-3 Type criteria for the revolute four-bar mechanisms Link as the S+L<P+Q S+L>P+Q S+L=P+Q frame Grashof Non-Grashof Change-point The shortest Double-crank Double-rocker link (without fully rotate) or Opposite to the Double-rocker shortest link(with fully rotate riple-rocker Adjacent to the Crank-rocker shortest linkTable2-3 Type criteria for the revolute four-bar mechanisms Link as the frame S+L<P+Q S+L>P+Q S+L=P+Q Grashof Non-Grashof Change-point The shortest link Double-crank Double-rocker (without fully rotate) or Triple-rocker Opposite to the shortest link Double-rocker (with fully rotate) Adjacent to the shortest link Crank-rocker