Deal with a triangle of links with revolute joints when finding the degrees of freedom in a system

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Yes! This is why the Jansen linkage is only an 8 bar linkage even tho it appears to have 11 links.

[@mecademie]

Good point! The Jansen walking mechanism (as you said) seems to have 11 links. But, with 2 triangles, if we count each triangle as a rigid body, then we will have 7 links in total. Right?

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@@mecademie you have to include the ground frame.