In a mechanism, in a kinematic chain one of the links is fixed. One can get different mechanisms by fixing in different links in a kinematic chain. This technique of obtaining different mechanisms is called as kinematic inversions.
Mechanisms: While one of the links of kinematic chain is fixed, the chain is known as mechanism.
Movability: it is concerned regarding motion of different links in a mechanism
Grashof’s Criterion: Criterion to study movability of four bar linkage utilizingrevolute pairs.Crank: The link that makes complete rotation.
Rocker: The link oscillates among two extreme positions.
Coupler: It transfers motion through input link to output link or vice-versa.