13. Translation – movement along X, Y, and Z axis (three degrees of freedom)
Rotation – rotate about X, Y, and Z axis (three degrees of freedom)

14. 3 DOF Z
Point Y Y
2 DOF X X

15. 6 DOF Z
3 DOF
Rigid Body Y Y X X

16. One Link (3DOF)
Two Links (6DOF)
Two Links + One Joint (4DOF)
One Link (3DOF)

17. The Revolute joint (pin or hinge joint) - one degree of freedom(Reduces 2 degrees of freedom in )
It allows pure rotation between the two links that it connects (R joints)

18. The Sliding joint (prism or piston joint) - one degree of freedom(Reduces 2 degrees of freedom)
It allows linear sliding between the two links that it connects (P joint)

19. DOF = 3(L – 1) – 2J1 – J2 DOF = degree of freedom (Planar)
L = number of links, including ground link
J1 = number of 1 DOF joints
J2 = number of 2 DOF joints
DOF ≤ 0
structure
mechanism
DOF > 0

20. Four Bar mechanism
L = 4 , J1 = 4 pin connections, J2 = 0
DOF = 3(L – 1) – 2J1 – J2
DOF = 3(4 – 1) – 2(4) – (0) = 1
Slider crank mechanism
L = 4 , J1 = 3 pin connections + 1 slider = 4 J2 = 0
DOF = 3(4 – 1) – 2(4) – (0) = 1