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The Kutzback criterion for determining the number of degrees of freedom (n) of a mechanism with L as number of links, J as number of lower pairs and H as number of higher pairs is
3 (J - 1) - 2L - H
2 (L - 1) - 2J - H
3 (L - 1) - 2J - H
2 (L - 1) - 3J - H
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