Front Loader-4
In this mechanism:
| The number of links= l= 9 |
| The number of joints= j= 11 (9 revolute2 prismatic joints between the piston and cylindersl) |
| Degree of freedom of the joints = fi= 1 (for all joints) |
Degree of freedom of space=  =
3 (planar motion) |
| Degree of freedom of the mechanism F= 3 (9-11-1) + 11 |
| F= -9 +11 |
| F=2 |
The two degrees of freedom refer to the displacement parameters between the piston and cylinders. Although the joint between the piston and cylinder is a cylindrical joint rather than a prismatic joint, since the rotational freedom is not utilized in this planar mechanism, This joint must be considered as a prismatic joint.The two freedoms are controlled by the hydraulic pressure. One of the freedom is used to lift the load up by rotating the main boom relative to the chassis, the other freedom is used to dump the load by rotating the bucket relative to the boom.