1。 DOFof a mechanisn 1.3 DOF formula of a planar mechanism M=3(L-1)-2J1-J2 M degree of freedom or mobility Li number of links J1 number of 1 DOF Joints J2: number of 2 DOF Joints1. DOF of a Mechanism 1.3 DOF formula of a planar mechanism M: degree of freedom or mobility L: number of links J1: number of 1 DOF joints J2: number of 2 DOF joints 2 1 2 M = 3(L−1)− J − J