Theory of Machine
The relation between number of links (l) and number of joints (j) in a kinematic chain is

l = (3/4).(j + 3)
l = (1/2).(j + 2)
l = j + 4
l = (2/3).(j + 2)

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Theory of Machine
The maximum fluctuation of energy is the

Sum of the maximum and minimum energies
Ratio of the mean resisting torque to the work-done per cycle
Difference between the maximum and minimum energies
Variations of energy above and below the mean resisting torque line

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