Program include the algorithm structure analysis of the kinematics schemes of the mechanisms to find expensive constraints. One analysis is provided at automatic assembling scheme for mechanisms with arbitrary constraint structure. To define theoretical reactions at expensive constraint used quasi equivalence transforms.

Initial position of the links cardan-joint drive.

Animation trace of links movement at assembling.

Expensive constraint at cardan-joint.

Expensive constraint at five-bodies chain.

Define reactions at expensive links by replace three-body chains.

Define reactions at expensive links by added masses.

Computed excitation forces from cardan drive.