In the given figure number of link = 5 Number of pair = 5 Degree of freedom from Kulzback equation F=3(l−1)−2J−h =3(5−1)−2×5−0=2
Pair between link link 5 and 1 → P‌1 link 1 and 2 → P‌2 link 2 and 3 → P‌3 link 3 and 4 → P‌4 link 4 and 5 → P‌5 where P is the pair.