Matching the below

Question

Match the following with respect to spatial mechanisms.                                                                                                           

Type of Joint

Motion constrained

P. Revolute            1. Three

Q. Cylindrical         2. Five

R. Spherical           3. Four

                               4. Two

                               5. Zero

           P      Q      R        

a)        1      3      1

b)        5      4      3

c)        2      3      1

d)        4      5       3