A mechanism has I number of links and j number of binary joints. The degree of freedom (n) of mechanism according to Grubler’s criterion will be given by:

1
n = 2(l – 1) – 2j
2
n = 2(l – 1) – 3j
3
n = 3(l – 1) – 2j
4
n = 3 (l – 1) – 3j

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