The paper describes a Maple program for the generation in symbolic form of all the equations needed for the kinematic analysis, up to the third order, of a large class of spatial mechanisms. By means of this program the user can easily model mechanisms with spherical, cylindrical or other types of common kinematic pairs. Since the orientation of each link is described by Euler parameters, all the output equations are in polynomial form. This makes the output in an suitable format for further symbolic processing.

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