Analysis of mechanism, DOF, "repeated bonds" of mechanism 1. The problem statement, all variables and given/known data The scheme is incomplete, nevertheless it is the way it is. It is required to determine the number of degrees of freedom for the given mechanism. Also, to find the number of "repeated bonds" (my english is poor) in this mechanism and remove it from the schematic. In other words - to simplify the mechanism by removing some of linkage without loosing any of its functionality. 2. Relevant equations DOF: W=3*n-2*p1-p2 n - number of links p1 - number of kinematic pairs of lower degree (1 DOF) p2 - number of kinematic pairs of higher degree (2 DOF) W - number of degrees of freedom Repeated bonds: q=W-6*n+5*p1+4*p2 q - number of repeated (unnecesary) bonds else given above. 3. The attempt at a solution I find 10 links in the mechanism, and according to my calclulation there are 14 kinematic pairs of lower degree, so W=3*n-2*p1-p2=3*10-2*14-0=2. Now the number of repeated relations: q=W-6*n+5*p1+4*p2=2-6*10+5*14+4*0=12. Okay, but which? I suppose I don't have the engineer's eye on things like this. Please check the calculations, give your oppinion and suggest any links to remove in order to simplify the mechanism.