Abstract: A generalized modeling procedure for general multibody systems, including higher and lower pairs, is developed, such that the relative motion of all kinds of joints eon be represented by well-developed and established (4×4) matrix based on D-H notation. The medaling procedure is very suitable in writing computer program of kinomatio and dynamic analysis of general multibody systems. As an illustration, the modeling of a revolute joint is presented.

Key words: Kinematics, Machinery, Matrix