The process of fixing different links of a kinematic chain one at a time to produce distinct mechanisms is called kinematic inversion.Here the relative motions of the links of the mechanisms remain unchanged.
First, let us consider the simplest kinematic chain,i.e., achain consisting of four binary links and four revolute pairs. The four different mechanisms can be obtained by four different inversions of the chain.
Slider Crank mechanism
It has four binary links, three revolute pairs, one prismatic pair.By fixing links 1, 2, 3 in turn we get various inversions.