Theory of Machine
A kinematic chain requires at least

4 links and 4 turning pairs
2 links and 3 turning pairs
5 links and 4 turning pairs
3 links and 4 turning pairs

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Theory of Machine
Crowning on pulleys helps

In decreasing the slip of the belt
In increasing velocity ratio
Increase belt and pulley life
For automatic adjustment of belt position so that belt runs centrally

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