If the constraint equations are independent,the system is said to have nc-nh degrees of freedom DOF nc-nh=3xnb-nh If DOF independent driving constraints are specified for kinematic analysis ΦP(g,t)=0 Then,the configuration of the system can be determined by solving the constraint equations: mwy-l8ad-t Such a system is called kinematically drivenIf the constraint equations are independent, the system is said to have nc – nh degrees of freedom Then, the configuration of the system can be determined by solving the constraint equations: If DOF independent driving constraints are specified for kinematic analysis   0       ( , ) ( , ) ( , ) t t t D k q q q    DOF  nc  nh  3 nb  nh ( ,t)  0 D  q Such a system is called kinematically driven