Linkages with open and closed kinematic graps are modelled with generalized coordinates.

Automatic generation of non-redundant loop-closing equations for single and multiple loops.

Parametrized linkage definition.

Full access to the flexible and user-extensible LinkageData database.

Simple copy, paste and merge of linkages.

Calculation of kinematic properties of links, such as velocity, angular velocity, acceleration or higher order derivatives, as closed form algebraic expressions or numerically.

Visualizing and animating linkages in 3D or 2D.

Export linkages and linkage's animation to VRML97 or X3D world.

Extensive support of geometric and kinematic modelling of gear and gear-trains.

Static analysis of linkages.

Dynamical analysis of linkages.

Interactive linkage definition application.

Dimensional synthesis for four-bar mechanisms.