 This version of the kinematic diagram has proven effective in enumerating kinematic structures in the process of machine design.An important consideration in this design process is the degree of freedom of the system of links and joints, which is determined using the Chebychev–Grübler–Kutzbach criterion.Elements of kinematics diagrams include the frame, which is the frame of reference for all the moving components, as well as links (kinematic pairs), and joints.