Kinematic chain


A kinematic chain is formed when all the kinematic links and kinematic pairs are assembled in a way (like a chain) that allows relative movement of all the links with successful constraints and definite motion relative to each other. When the free end of the chain is free to move without any constraints, the chain is called as an open kinematic chain. On the contrary, if the free end of the link is arrested or constrained to the free end of the other link, to form a complete end to end connection, then the chain is said to be a closed kinematic chain. Fixing any links to the ground will give rise to a mechanism.