pure sliding, as well as pure rolling without slipping and point contact with slipping. A mechanism is modelled as an assembly of rigid links and kinematic pairs.

Links and joints

Reuleaux called the ideal connections between links kinematic pairs. He distinguished between higher pairs, with line contact between the two links, and lower pairs, with area contact between the links. J. Phillipsshows that there are many ways to construct pairs that do not fit this simple model.

Lower pair: A lower pair is an ideal

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