AbstractGet full access to this articleView all access options for this article.Get accessReferences1. Mohammadi Y Mahdi B Nasser F . Determining Equations Governing Multibody Dynamic Systems Through Joint Kinematics and Kinematic Chain Effects in Closed-Form Mechanisms. Iran J Sci Technol Trans Mech Eng 2023. 10.1007/s40997-023-00651-z.