Determine the degrees of freedom of the linkages below. Consider linkages (a) to (f) as planar and (g) to (i) as spatial. Solution so when we calculate dof of any mechanism in a plane, we need the total number of links,N the total number of lower pairs(surface contact), L the total number of higher pairs(line contact), H DOF= 3(N-1)-2L-H a)- N=8 L=4 H=1 dof= 3(8-1)-2*4-1=12 b)- N=3 l=0 H=2 DOF= 3(3-1)-2*0-2=4 c)- N= 10 l=10 H=0 DOF= 3(10-1)-2*10=7 e)- N=8 L=8 H=2 dof= 3(8-1)-2*8-2=3 f)- N=8 L=7 H=0 dof= 3(8-1)-2*7-0= 7.