Any mechanical system can be classified by the number of degrees of freedom (DOF) it possesses, which is equal to the number of independent parameters needed to uniquely define its position in space at any given time. A DOF is defined relative to a selected frame of reference. The document discusses determining a mechanism's DOF using Kutzback's equation and provides examples of mechanisms with one and zero DOF that contain different types of joints.

2. DEGREES OF FREEDOM
Any mechanical system can be classified
according to the number of degrees of freedom
(DOF) which it possesses. The system's DOF
is equal to the number of independent
parameters (measurements) which are needed
to uniquely define its position in space at any
instant of time.
Note that DOF is defined with respect to a
selected frame of reference.

3. Chapter 1- Part 1 3
Joints or Kinematic Pair
Figure 2.3 a shows
Six possible lower pairs
Degree of freedom and
Symbols.

4. Figure below shows a mechanism with one DOF
and only full joints in it.
DETERMINING DEGREE OF FREEDOM
USING KUTZBACK’S EQUATION

5. Figure below shows a mechanism with zero DOF
which contains full, half and multiple joints.
DETERMINING DEGREE OF FREEDOM
USING KUTZBACK’S EQUATION

9. No Slip