00:01
So we're going to use grubler's equation, which is m is equal to 3 n minus 1, minus 2, j minus h.
00:09
Now, n is the number of links.
00:12
So we have figure 1a.
00:19
We're going to have 3 times 6 minus 1.
00:22
6 is a number of links, including ground, minus 2 times the number of joints, minus the number of higher pair joints.
00:33
It's going to be 1.
00:35
So this is a mechanism with one degree of freedom.
00:42
For 1b, we're going to have 3 times 3 minus 1, minus 2 times 2.
00:49
That's going to be 2, so that's a mechanism with degree of freedom 2...