Mechanism: A mechanism is a constrained kinematic chain.

This means that the motion of any one link in the kinematic chain will give a definite and predictable motion relative to each of the others. Usually one of the links of the kinematic chain is fixed in a mechanism.

Slider crank and four bar mechanisms Machine: A machine is a mechanism or collection of mechanisms, which transmit force from the source of power to the resistance to be overcome. Though all machines are mechanisms, all mechanisms are not machines. Many instruments are mechanisms but are not machines, because they do no useful work nor do they transform energy. Eg. Mechanical clock, drafter. Planar mechanisms: When all the links of a mechanism have plane motion, it is called as a planar mechanism. All the links in a planar mechanism move in planes parallel to the reference plane.
Different mechanisms obtained by fixing different links of a kinematics chain are knownas its inversions.

Inversions of mechanism: A mechanism is one in which one of the links of a kinematic chain is fixed. Different mechanisms can be obtained by fixing different links of the same kinematic chain. These are called as inversions of the mechanism. By changing the fixed link, the number of mechanisms which can be obtained is equal to the number of links. Excepting the original mechanism, all other mechanisms will be known as inversions of original mechanism. The inversion of a mechanism does not change the motion of its links relative to each other.

Four bar chain / quadric cycle:

Fig 1.22 Four bar chain One of the most useful and most common mechanisms is the four-bar linkage. In this mechanism, the link which can make complete rotation is known as crank (link 2). The link which oscillates is known as rocker or lever (link 4). And the link connecting these two is known as coupler (link 3). Link 1 is the frame.
The chain has four links and it looks like a cycle frame and hence it is also called quadric cycle chain. It is shown in the figure. In this type of chain all four pairs will be turning pairs.

It consists of four rigid links which are connected in the form of a quadrilateral by four pin-joints.

A link makes complete revolution is called Crank or driver(4). The link which is fixed is called fixed link (frame)(1).

 The link opposite to the fixed link is called Coupler or connecting rod(3). The fourth link is called Lever or Rocker or follower (2).

Grashoffs Law:
For a planar four bar linkage, the sum of the shortest and longest links cannot be greater than the sum of the remaining links if there is to be continuous relative rotation between two members

A linkage that contains one or more links capable of undergoing a full rotation. A linkage is Grashoff if: S + L < P + Q (Where: S = shortest link length, L = longest, P, Q = intermediate length links). Both joints of the shortest link are capable of 360 degrees of rotation in a Grashoff linkages.

Inversions of four bar chain (4R): Inversions of four bar chain mechanism: There are three inversions: 1) Beam Engine or Crank and lever mechanism. 2) Coupling rod of locomotive or double crank mechanism. 3) Watts straight line mechanism or double lever mechanism.

1. First Inversion (Crank & Lever Mechanism) or Crank- Rocker Mechanism:

If any of the adjacent links of link d, i.e., link a or c is fixed. The link d (crank) can have full revolution and the link (b) opposite to it oscillates.
Beam Engine

 When the crank rotates about the fixed centre A and the lever oscillates about a fixed centre D. The purpose of this mechanism is to convert rotary motion into reciprocating motion and vice versa
Second Inversion ( Double Crank mechanism ):

If the shortest link (d) is fixed then the links a and c rotates full circle and link b also complete one revolution relative to fixed link d.

Coupling Rod of a Locomotive In this mechanism the length of link AD = length of link C. Also length of link AB = length of link CD. When AB rotates about A, the crank DC rotates about D. this mechanism is used for coupling locomotive wheels. Since links AB and CD work as cranks, this mechanism is also known as double crank mechanism. This is shown in the figure below. It is meant for transmitting rotary motion from one wheel to the other wheel.

. Third Inversion ( Double Lever Mechanism): If the link opposite to the shortest link. i.e., link b is fixed and the two links a and c would oscillate.

Watts indicator

In this mechanism, the links AB & DE act as levers at the ends A & E of these levers are fixed. The AB & DE are parallel in the mean position of the mechanism and coupling rod BD is perpendicular to the levers AB & DE. On any small displacement of the mechanism the tracing point C traces the shape of number 8, a portion of which will be approximately straight. Hence this is also an example for the approximate straight line mechanism. This mechanism is shown below. It is also called Watts straight line mechanism and the dotted line shows the position of the mechanism.