I presume that you mean Kinematic measurement (as in solid state Kinematic Viscosity).
It would be extremely difficult to help you without any further information on your mechanism such as joint links, link lengths, stop points, expected end result etc...
Without knowing what the state of non movement and the state of the desired end result is expected to be, the link calculations cannot be given.
I would advise to research how kinematic movement is represented in computer programming, you will find that there are many variables that affect the mathematics. It would likely be easier to program a representation of your model into a computer alongside a kinematics tutorial program, where you would be able to see the output that you want and also get a moving visual representation of your device moving within its constraints.