Analysis of Planar Linkages.- Graphical Synthesis in the Plane.- Planar Kinematics.- Algebraic Synthesis of Planar Chains.- Analysis of Spherical Linkages.- Spherical Kinematics.- Algebraic Synthesis of Spherical Chains.- Analysis of Spatial Chains.- Spatial Kinematics.- Algebraic Synthesis of Spatial Chains.- Platform Manipulators.
