Please answer in a clear manner to get the points. Thanks for the help. 1. What are the number of links and number of joints of each planar linkage shown below? Determine the mobility of each mechanism Solution the nof degrees of freedom = no of variables - no of constraint each body has 3 variables ie x y and roration and each joint(revolute and translational) corresponds to 2 constraint equation and high pair forms 1 constraint prob1. number of bodies except ground =9 number of revolute joints =7 number of translatioanl joints= 1 mobility = 3*9 -(2*7+2*1) =11 2. number of bodies except ground =7 number of revolute joints =8 number of translatioanl joints= 2 number of higher pair= 1 mobility =3*7 - (8*2+2*2+1) =1 .