Abstract
The vast mechanical systems could be classified as closed loop system, open loop system and open & closed (switching) system In the closed loop system, the kinematics and dynamics of 3-D mechanisms will be reviewed and closed form solutions using the direction cosine matrix method and reflection transformation method will be introduced In the open loop system, kinematic & dynamic analysis methods regarding the redundant system which has more degrees of freedom in joint space than those of task space are leviewed and discussed Finally, switching system which changes its phase between closed and open loop motion is investigated with the pinciple of dynamical balance Among switching systems, the human gait in biomechanics and humanoid in robotics are presented
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