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Types of Rigid Link
1. Binary Link
The link which is attached at two different points in a mechanism is known as binary link.
2. Ternary Link
The link which is attached at three different points in a mechanism is known as Ternary Link.
3. Quaternary Link
It is attached at four different points in a mechanism.
Types of Joints
1. Binary Joint
When two links are joined at same point to form kinematic chain.
2. Ternary Joint
When three links are joined at same point to form a kinematic chain.
3. Quaternary Joint
When four links are joined at same point to form a kinematic chain.
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