2-21 a)n=4,J1=4,J2=0,M=1 b)n=4,J1=4,J2=0,M=1 c)n=8,J1=10,J2=0,M=1 d)n=4,J1=4,J2=0,M=1 e)n=8,J1=11,J2=0,M=-1(paradox) n=6,J=7,J2=0,M=1(remove the over constraint links 5,7) f)n=4,J1=4,J2=0,M=1 g)n=6,J1=7,J2=0,M=1 h)n=9,J1=12,J2=0,M=0(paradox) n=6,J1=7,J2=0,M=1 (remove the symmetrical parts,link 7,8,9)2-21 a) n=4, J1=4, J2=0, M=1 b) n=4, J1=4, J2=0, M=1 c) n=8, J1=10, J2=0, M=1 d) n=4, J1=4, J2=0, M=1 e) n=8, J1=11, J2=0, M= -1(paradox) n=6, J1=7, J2=0, M=1 (remove the over constraint links 5, 7) f) n=4, J1=4, J2=0, M=1 g) n=6, J1=7, J2=0, M=1 h) n=9, J1=12, J2=0, M=0 (paradox) n=6, J1=7, J2=0, M=1 (remove the symmetrical parts, link 7, 8, 9)