Features

• All of the documentation within the application is hyperlinked
• Reference examples in the application use a new "Help Model" system so that many examples are given in the context of a single Help Model
• The package fully supports Mathematica's expression compilation capabilities
• The forward dynamics module integrates in 3D angular space for improved performance and accuracy
• Generalized coordinate support is fully integrated in the core package
• Many 3D angular constraints result in simpler symbolic expressions
• Utilities support vector algebra in Euler parameter space
• The package provides enhanced 3D graphics objects with elliptical cubic sections
• The gear constraints provide flexibility for modeling abstract gear trains
• All 3D rotations can be generally specified by angle-axis, Euler parameters or virtual rotation vector

• Planar and spatial modeling
• Open, closed and multiloop mechanisms
• Multistage mechanisms
• Velocity and acceleration analysis
• Large library of kinematic constraint objects
• User-programmable constraints
• Nominal gear motion constraints
• Involute gear motion analysis
• Cam constraints supporting analytic and mapped cam profiles

Statics and Dynamics of Fully Constrained Systems

• User-programmable forces and moments
• Nonlinear and nonconservative loading support
• Damping and friction modeling
• Static reaction analysis (kineostatics)
• Dynamic reaction analysis (inverse dynamics)

Motion Analysis of Underconstrained Systems

• Specialized quaternion-based Adams-Bashforth integrator
• Static equilibrium analysis
• Velocity equilibrium analysis
• Time-domain dynamic motion synthesis

Mechanism Design Tools

• Multiconfiguration parametric design synthesis
• Tolerance sensitivity analysis
• Vector algebra library
• Extended graphics functions
• Mechanism motion animation