A solution to the problem of synthesizing an initial three-dimensional kinematic chain with spherical and rotary kinematic pairs is presented. It is shown that this chain can be used as a structural module for structural-kinematic synthesis of three-dimensional four-link motion generating lever mechanisms by the preset positions of the in-and output links. This papers affects the actual today�s problem of optimal synthesis of spatial link mechanisms. In this regard, the task of developing methods for the synthesis of complex spatial link mechanisms with the desired laws of motion of the input and output elements allowing automatizing the implementation of all design phases with the use of computer is quite relevant. The authors develop machine-oriented method of structural and kinematic synthesis of spatial link mechanisms based on the use of spatial initial kinematic chains (IKC) realizing prescribed motions. A new approach to the design of spatial mechanisms is suggested, according to which the design process is based on the kinematic synthesis of four-link initial kinematic chain (IKC) and associable kinematic chains (AKC).

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