This paper improves augmented mechanism state matrices by replacing joint code with screw system notation. The proposed substitution allows for a more specific description of the joints in the mechanism and the capability to describe both spatial and planar mechanisms. Examples are provided which elucidate the proposed approach.
Voglewede, Philip A.; Korves, Brian; and Slaboch, Brian, "Mechanism State Matrices for Spatial Reconfigurable Mechanisms" (2012). Mechanical Engineering Faculty Research and Publications. 5.