A kinematic chain is a series of rigid bodies (links) connected by movable joints, allowing relative motion between the links. The concept is fundamental in the field of robotics, mechanical engineering, and biomechanics, where understanding the movement of bodies or components is essential for design and analysis. Kinematic chains can be classified into: 1. **Open Kinematic Chains**: These chains have a free end that is not connected to another link, allowing movement in one direction.
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