A computer program for kinematic analysis of three-dimensional cascaded linkage chains

Abstract The KIN program analyses the motion of three-dimensional cascaded linkage chains consisting of combinations of four-bar linkage units, axial translation units, and sliders (units confined to motion along a fixed line). Motion can be simulated for any combination of geometrical parameters. The model, the program, input-output features and an application are described. The program is written in PL/1, and can be run in either batch or conversational mode.