Theory of Machine
The Grubler's criterion for determining the degrees of freedom (n) of a mechanism having plane motion is (where l = Number of links, and j = Number of binary joints)

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

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