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
$$l = {\text{j}} + 4$$
Correct Answer: $$l = \frac{2}{3}\left( {{\text{j}} + 2} \right)$$