The parallel mechanism is composed of a moving platform and a base (or frame) connected by four legs. Each leg is composed of five revolute joints numbered 1, 2, … 5 from the base to the moving platform. The axes of the revolute joints 3, 4 and 5 in leg 1, the revolute joints 1 and 5 in leg 2, as well as the revolute joints 1, 2 and 3 in leg 3 are all parallel to the Z-axis. The axes of the remaining revolute joints in each leg are parallel
I want to know the DOF. Can someone help?