machines and mechanisms applied kinematic pdf
edom The degrees of freedom (DOF) of a mechanism denote the number of independent parameters needed to define its position: Calculated using Grübler’s equation: \[ \text{DOF} = 3(n - 1) - 2j - h \] where: \( n \) = number of links (including the frame) \( j \) = number of lower pairs (single-DO