When a number of kinematic links are joined in such a way that the last link is joined to the first link and the relative between them is a definite. If the motion is not definite then it is called non-kinematic chain.
There are two equations to find out whether the Chain is kinematic or not. These equations are applicable for the chains having lower pairs.
The equations are.
l = 2p – 4
l = 2/3 (j + 2)
Where l is number of links, p is number of pairs and j is number of joints.