By cinemático

Some types of joints between pieces.

In mechanical engineering, a kinematic pair is called a bond between two members of a mechanism. An example are two bars joined by a bolt (called a union of revoluta, fig 2) that allows the pieces to rotate around it.

The kinematic pairs are classified into different types according to the movement they allow, and are a primordial element in the construction of a mechanism, since it defines the type of movement between the pieces.

Types of kinematic pairs In two dimensions

For plane mechanisms, that is, they execute a movement in the plane, some examples of kinematic pairs are: In three dimensions

More generally you will have:

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