$\backslash$table$[[\backslash$table$[[J_1=$ full joints$],[-$ Revolute $($R$)$ Pin$],[-$ Prismatic $($P$)$ Slider.$],[-$ Cylinder $($Hydraulic or pneumatic$)]],J_2=$ half joints$],[-,$Pin in slot$],[,$Fork Joint$],[-,$Cam$],[-,$Gear$],[\backslash$table$[[-$ Roller$],[-$ Helical $($H$)$ screw$]],$plane,Link against$],[,,$Roller with$],[,\backslash$table$[[$sliding $],[$Joint$($C$)]],$Cylindric$]]$

Kutzbach's equation

For each scheme specify what type of joint it is$.$ Example

Links

$L=$

Joints: $,J_1$

Pins $=$

$J_2$

Pin in Slot $=$

DOF $=3(L-1)-2J_1-J_2$

$1.$Draw the kinematic Diagram

$2.$ Determine the Mobility