Theory of Machine
The type of coupling used to join two shafts whose axes are neither in same straight line nor parallel, but intersect is

Universal coupling
Chain coupling
Oldham's coupling
Flexible coupling

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Theory of Machine
The relation l = (2/3).(j + 2) apply only to kinematic chains in which lower pairs are used. This may be used to kinematic chains in which higher pairs are used, but each higher pair may be taken as equivalent to

One lower pair and two additional links
Two lower pairs and one additional link
Two lower pairs and two additional links
Any one of these

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Theory of Machine
Lower pairs are those which have

Two elements that permit relative motion
Point or line contact between the two elements when in motion
Elements of pairs not held together mechanically
Surface contact between the two elements when in motion

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