Define kinematic link and kinematic chain.
a) Kinematic link: Each part of a machine, which moves relative to some other part, is known as a kinematic link (or simply link) or element. Kinematic Chain: When the kinematic pairs are coupled in such a way that the last link is joined to the first link to transmit definite motion (i.e. completely or successfully constrained motion), it is called a kinematic chain.
