The Grubler’s criterion for plane mechanisms with constrained motion is given by
(where, l is the number of links and j is the number of binary joints)
1
3l – 2j – 2 = 0
2
3l – 2j – 3 = 0
3
3l – 2j – 4 = 0
4
3l – 2j – 1 = 0
5
Question Not Attempted
The Grubler’s criterion for plane mechanisms with constrained motion is given by
(where, l is the number of links and j is the number of binary joints)