The relation between number of links ($$l$$) and number of joints (j) in a kinematic chain is
A. $$l = \frac{1}{2}\left( {{\text{j}} + 2} \right)$$
B. $$l = \frac{2}{3}\left( {{\text{j}} + 2} \right)$$
C. $$l = \frac{3}{4}\left( {{\text{j}} + 3} \right)$$
D. $$l = {\text{j}} + 4$$
Answer: Option B
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