# Mobility of Mechanism

## Mobility

Degrees of freedom for planar linkages joined with common joints can be calculated through Gruebler’s equation.

Gruebler’s equation is given by the formula:

> M = 3(L-1) - 2J<sub>1</sub> - J<sub>2</sub>

where:
- M is degree of freedom or Mobility
- L is number of links
- J<sub>1</sub> is number of full joints
- J<sub>2</sub> is number of half joints


![image.png](https://cdn.hashnode.com/res/hashnode/image/upload/v1647244176862/dSsKALnhE.png)

## Try Yourself

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