How then can mutation explain the developement of an irriducible mecanism such as the knee joint?
Well, first you have ignored the effect of
selection, which is a powerful filter that makes evolution definitely
not a random process.
Second, there are many ways in which "irreducibly complex" systems can arise through evolution. One that comes to mind is scaffolding; system A+B+C may not be irreducibly complex, but remove system B and you may still have an operating system that is now "irreducibly complex" (similar to how an "irreducibly complex" arch is built with scaffolding). Another is co-optation; a system may perform a particular function and mutations may produce a new system that is "irreducibly complex" and performs a different function.
Third, it may be that the knee requires those four complex parts to exist to operate
as a human knee but you are going to have to do some serious arguing to convince me that they all have to be present to function
as a joint.
There should be a discussion of the knee at
http://www.philoonline.org/library/shanks_4_1.htm ("Behe, Biochemistry, and the Invisible Hand", Niall Shanks & Karl Joplin) but that seems to be down, perhaps forever.