This Paper presents an analytical method on the investigation of the motion characteristics of spatial mechanism, with it applied to the Ball-and-Trunnion Type of Joint, i. e, the Multiple-Pode Joint.

The Yankees like his ability to induce ground balls, and they are hopeful his splitter will continue to improve.

For fast calculating the signed distance from spatial point to STL model, a reference ball method was put foward based on linear octree.