engineering recuitment UPCL AE (E&M) 2021 Mock Test Theory of Machines Mechanisms and Machines Grubler's Criterion for Planar Mechanism
Number of links (I) and the number of joints (J) for a single degree of freedom kinematic chain, with only lower pair joints, is related by the expression:
1
J = 2.5l - 2
2
J = 2.5l - 1
3
J = 1.5l - 2
4
J = 1.5l - 1