Theory of Machine
The inversion of a mechanism is

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

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Theory of Machine
Crowning on pulleys helps

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

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