# The Kutzbach criterion for determining the number of degrees of freedom (n) is (where l = number of links, j = number of joints and h = number of higher pairs)

n = 3(l - 1) - 2j - h

n = 2(l - 1) -2j - h

n = 3(l - 1) - 3j - h

n = 2(l - 1) - 3j - h

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