If L = no of links and J = no of joints, then for a kinetic chain

1
\(L = \frac{{3}}{{2}}\times (J\;+\;2)\)
2
\(L = \frac{{1}}{{3}}\times (J\;+\;2)\)
3
\(L = \frac{{2}}{{3}}\times (J\;+\;2)\)
4
\(L = \frac{{2}}{{3}}\times (J\;+\;1)\)
5
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