Which equation represents Grubler’s equation? (where “F”represents Degrees of freedom, n represents number of links, l represents Number of lower pairs, h represents Number of higher pairs)

• A. F = 3(n-1)-2l-h
• B. F = 2(n-1)-2l-h
• C. F = 2(n-1)-3l-h
• D. F = 3(n-1)-2l-2h