A kinematic chain is the assembly of several kinematic pairs connecting rigid body segments. The complexity (in terms of calculating the forward and inverse kinematics) of the chain is determined by the following factors:
Explanation:-
Two or more rigid bodies in space are collectively called a rigid body system. We can hinder the motion of these independent rigid bodies with kinematic constraints. Kinematic constraints are constraints between rigid bodies that result in the decrease of the degrees of freedom of rigid body system.
The term kinematic pairs actually refers to kinematic constraints between rigid bodies. The kinematic pairs are divided into lower pairs and higher pairs, depending on how the two bodies are in contact:
Formula: L=2P-4
Where, L=No. of links, P=No. of pairs.