Theory of Machine
Higher pairs are those which have

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

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Theory of Machine
Lower pairs are those which have

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

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Theory of Machine
Open pairs are those which have

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

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