[SOLVED] Linkages DOF of a Stephenson 6-bar link 1. The problem statement, all variables and given/known data http://img116.imageshack.us/img116/4923/82563440pn0.th.jpg [Broken] 2. Relevant equations Grubler's Criterion m (#DOF)= 3(n-1)-2g 3. The attempt at a solution In the image I uploaded. I counted 2 turnary links ( the triangle and the 3 grounded links) and 5 binaries (4links + 1 ground), but when I add every thing up I get -1 DOF. It should be 1 DOF for this 6-bar. From looking at my notes, I suspect the error lies in links 2-3. I'm just not seeing where I went wrong with this.