a)

= 3; l = 11; j = 12R + 2P
m = 3(11 14 1) + 12.1 + 2.1 = 2 (2 hydraulic actuators can be seen in the figure)

b)

= 6; l = 3; j = 2S + C
m = 6(3 3 1) + 2.3 + 1.2 = 2
mact = 2 1 = 1 (the rotation of link 2 about its longitudinal axis is redundant)

c)

= 6; l = 6; j = R + 2P + 2S + 2C
m = 6(6 7 1) + 1.1 + 2.1 + 2.3 + 2.2 = 1
d)

= 3; l = 7; j = 5R + 2P + 2Cam
m = 3(7 9 1) + 5.1 + 2.1 + 2.2 = 2
mact = 2 1 = 1 (the rotation of link 3 is redundant)

e)

= 3; l = 3; j = 2R + Cam
m = 3(3 3 1) + 2.1 + 1.2 = 1

f)
 = 3; l = 8; j = 9R + P
m = 3(8 10 1) + 9.1 + 1.1 = 1

g)

= 3; l = 6; j = 6R + P
m = 3(6 7 1) + 6.1 + 1.1 = 1

h)

= 3; l = 4; j = 4R
m = 3(4 4 1) + 4.1 = 1