Abstract: In this paper, equations of kinematics of multibody system are derived. Based on these equations, a program calied KINCOMES is developed and it can be used to the calculation of kinematics of multibody systems. Two examples of spatial mechanisms are given. According to the program and the examples, it can be seen that multibody system theory is effective to the kinematic analysis of mechanisms.

Key words: Huston’s method, Kinematie analyes, Multibody system theory