Straightforward machines are rudimentary instances of kinematic chains or linkages that are u demonstrate mechanical frameworks going from the steam motor to robot controllers. The di that structure the support of a switch and that permit the haggle and pulleys to pivot are inst kinematic pair called a pivoted joint. Additionally, the level surface of a slanted plane and wed instances of the kinematic pair called a sliding joint. The screw is generally recognized as its ov kinematic pair called a helical joint