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内容説明 Intended for self-study， this second volume presents a systematic approach for deriving model equations of planar and spatial mechanisms. The necessary theoretical foundations have been laid in the first volume. The focus is on the application of the modeling methodology to various examples of rigid-body mechanisms， simple planar ones as well as more challenging spatial problems. A rich variety of joint models， active constraints， as well as active and passive force elements is treated. The book is intended for self-study by working engineers and students concerned with the control of mechanical systems， i.e. robotics， mechatronics， vehicles， and machine tools. Its examples can be used as models for university lectures.