The displacement,velocity and acceleration analysis of the general spatial7Rmechanism is discussed in this paper.Based on the method proposed in Ref[2].an input-output algebra equation of the16th degree in the tan-half-angle of the output angulardisplacement is derived.The derivation process and computation are considerably simple.Aprogram written in Al language is used to derive the coefficients of displacement equations:therefore the amount of manual work is greatly decreased.The results are verified by anumerical example.The researches of this paper and Ref[5]found a base for establishingan expert system of spatial mechanism analysis in the future.
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