Theory of Machine
Kinematic pairs are those which have

Point or line contact between the two elements when in motion
Two elements that permit relative motion
Elements of pairs not held together mechanically
Surface contact between the two elements when in motion

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Theory of Machine
The inversion of a mechanism is

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

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