Theory of Machine
If some links are connected such that motion between them can take place in more than one direction, it is called

Partially constrained motion
Successfully constrained motion
Incompletely constrained motion
Completely constrained motion

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Theory of Machine
The inversion of a mechanism is

Changing of a higher pair to a lower pair
Obtained by fixing different links in a kinematic chain
Obtained by reversing the input and output motion
Turning its upside down

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