A kinematic chain is a assembly of links in which relative motion of links is possible and the motion of each relative to other is definite.Degree of freedom of a plane mechanism can be calculated using GRUEBLER'S CRITERION, i.e., F=3(N-1)-2P-Q where each movable link possess 3 degree of freedom.
For linkages with single degree of freedom KUTZBACK'S CRITERION is followed, i.e., 2P=3N-4
In the above equations-
N = total number of links in a mechanism
:. N-1 = number of movable links
F = degree of freedom
P = number of pairs having one degree of freedom
Q = number of pairs having two degree of freedom
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