To accelerate the design automation process for the spatial mechanism design, this paper presents an efficient kinematic analysis method, called the joint displacement method. Based on this method, the kinematic analysis for a seven-link, two-loop spatial RSCC-SRR mechanism can be accomplished in 1.52 second on a PC/486-based computer for a complete 60-steps (6 degrees/step) crank-revolution. This method is applicable for both single-loop and multiloop spatial mechanisms with revolute, cylindrical, translational, spherical and universal joints, with the high computational efficiency which hasn’t been found in the literatures. The general purpose computer program coded in C language has been tested with a wide variety of mechanisms, which produces very satisfactory results.

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