Kinematic Pair – When two links are connected to have relative motion between them is called kinematic pair.
Higher pair – When two links or elements are connected in such a way that there is point or line contact between them is known as higher pair. Examples – Ball bearing, Roller bearing, Cam and follower etc.
Lower pair– When two links or elements are joined to have surface contact between them. It is known as Lower pair. Examples – Piston reciprocating in a cylinder, shaft in a bearing etc