Kinematic Pairs;

In a mechanism, bodies or links are associated such that each of them moves w. r. t. another. The behaviour of the mechanism based on the nature of the connections of the links and the kind of relative motion they allow. These connections are called kinematic pairs. Therefore kinematic pair is described as a joint of two links having relative motion between them. Generally, kinematic pairs can be classified as following:

(a) Lower pair,

(b) Higher pair, and

(c) Wrapping pair.