A useful method for the kinematic analysis of spatial mechanisms is presented. For the purpose of kinematic analysis, the mechanism is treated as a consist of a number of master train components. For each master train component, geometric constitutive equations for use in kinematic analysis of mechanisms are developed. The kinematic analysis of all train components consisting the mechanism are performed as parts of the master components using a mathematical programming procedure. The analysis is followed in sequence from one train component to another as they form the entire mechanism. Numerical examples are presented to illustrate the proposed technique.

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