II. DEGREE OF FREEDOM OF MECHANISMS AND CLASSIFICATION OF MECHANISMS

  2.1   Degree-of-freedom of Mechanisms

          -Mechanism Examples

  2.2  Constrained Mechanisms

  2.3  Kinematic Inversion

  2.4  Grübler’s Equation

  2.5  Enumeration of Kinematic Chains and Mechanisms

  2.6  Spherical and Two-Dimensional Space

  2.7  Classification of Mechanisms