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Well, although, I didn't well understand what have wrote as a solution to the first part (upper) half of the Jacobian, but AFAIK, the manipulator Jacobian is a $6\times n$ matrix, for that let's say $ ...
If you want to solve it mathematically (not within the SolidWorks), the DOF is the number of independent variables needed to define the configuration of the mechanism. Since you've planar motion in ...
Finally, I got it 'praise to Allah'. Actually, I made a mistake on how to find the adjoint (Ad)of the matrix $ j$ . I simply used the adjoint function in matlab, but that wasn't the right approach; ...