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Wikipedia definition
1. Kinematic pairA kinematic pair is a connection between two bodies that imposes constraints on their relative movement. Franz Reuleaux introduced the kinematic pair as a new approach to the study of machines that provided an advance over the notion of elements consisting of simple machines. Hartenberg & Denavit presents the definition of a kinematic pair: In the matter of connections between rigid bodies, Reuleaux recognized two kinds; he called them higher and lower pairs (of elements).
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