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I came across a equation for kinematic chain (for lower pairs only) :

L = 2P-4

where L: Number of Links; P is the number of pairs

how could this equation be derived ?

EDIT: I tried putting values in the equation.Since for the pairs to be any integer the links can only be an even number(can be verified from the formula).

FOR

• L=4 ; P=4
• L=6 ; P=5
• L=8 ; P=6

Question 1:How to visualize kinematic chain with (6links;5 pairs) or (8L;6P)(with the help of diagram)

Question 2: Why is it the number of pairs not equal to number of links and why is it decreasing gradually from the number of links ?

Question 3: When closely observing the equation i can see that 2 pairs are neglected (P-2) and each pair has 2 links attached L =2(P-2).But why and which 2 pairs are neglected? Is this the correct way to think about this equation?

I came across a equation for kinematic chain (for lower pairs only) :

L = 2P-4

where L: Number of Links; P is the number of pairs

how could this equation be derived ?

EDIT: I tried putting values in the equation.Since for the pairs to be any integer the links can only be an even number(can be verified from the formula).

FOR

$ - L=4 ; P=4$ $- L=6 ; P=5$ $ - L=8 ; P=6$

Question 1:How to visualize kinematic chain with (6links;5 pairs) or (8L;6P)(with the help of diagram)

Question 2: Why is it the number of pairs not equal to number of links and why is it decreasing gradually from the number of links ?

Question 3: When closely observing the equation i can see that $2 $pairs are neglected $(P-2$) and each pair has$ 2 $links attached$ L =2(P-2)$.But why and which $2 $pairs are neglected? Is this the correct way to think about this equation?

I came across a equation for kinematic chain (for lower pairs only) :

L = 2P-4

where L: Number of Links; P is the number of pairs

how could this equation be derived ?

EDIT: I tried putting values in the equation.Since for the pairs to be any integer the links can only be an even number(can be verified from the formula).

FOR

• L=4 ; P=4
• L=6 ; P=5
• L=8 ; P=6

Question 1:How to visualize kinematic chain with (6links;5 pairs) or (8L;6P)(with the help of diagram)

Question 2: Why is it the number of pairs not equal to number of links and why is it decreasing gradually from the number of links ?

I came across a equation for kinematic chain (for lower pairs only) :

L = 2P-4

where L: Number of Links; P is the number of pairs

how could this equation be derived ?

EDIT: I tried putting values in the equation.Since for the pairs to be any integer the links can only be an even number(can be verified from the formula).

FOR

• L=4 ; P=4
• L=6 ; P=5
• L=8 ; P=6

Question 1:How to visualize kinematic chain with (6links;5 pairs) or (8L;6P)(with the help of diagram)

Question 2: Why is it the number of pairs not equal to number of links and why is it decreasing gradually from the number of links ?

Question 3: When closely observing the equation i can see that 2 pairs are neglected (P-2) and each pair has 2 links attached L =2(P-2).But why and which 2 pairs are neglected? Is this the correct way to think about this equation?

I came across a equation for kinematic chain (for lower pairs only) :

L = 2P-4

where L: Number of Links; P is the number of pairs

how could this equation be derived ?

I came across a equation for kinematic chain (for lower pairs only) :

L = 2P-4

where L: Number of Links; P is the number of pairs

how could this equation be derived ?

EDIT: I tried putting values in the equation.Since for the pairs to be any integer the links can only be an even number(can be verified from the formula).

FOR

• L=4 ; P=4
• L=6 ; P=5
• L=8 ; P=6

Question 1:How to visualize kinematic chain with (6links;5 pairs) or (8L;6P)(with the help of diagram)

Question 2: Why is it the number of pairs not equal to number of links and why is it decreasing gradually from the number of links ?