About  the idea creating a CAD lever mechanisms. We can consider as degrees of freedom levers length. For example, in the animation for the selection of the desired trajectory of the Q, we change the length of AB (green), keeping unchanged all the other values and fix the position of point A.

@Bendesarts 
Thank you for your feedback on this work. And a special thank you for your interest in our method.
I cannot accurately determine the timing of writing the work in English. While try using a translator to parse the publication of this section  http://www.mapleprimes.com/posts/202821-Calculating-Link-Mechanisms 
http://www.mapleprimes.com/view.aspx?sf=201279_Comment/Method_Mechan_PDF.pdf
I suggest you ask me specific questions on the text of the program. Literally you can ask for each line of text you selected.
Still, as happens, I will say on general provisions of my ideas calculation linkages. The idea is simple: we make a mathematical model of the mechanism in the form of underdetermined systems of nonlinear equations. It is such a system of equations, in which the number of variables is greater than the number of equations. The difference between the number of variables and the number of equations corresponding to the number of degrees of freedom of the mechanism. As the variables we take the coordinates of the moving points of the mechanism, but the variables can be any other convenient values. And all the mechanism is described by the system of equations (relations). The solution to this system of equations is a solution of the Cauchy problem for the ODE system and complies with all the possible provisions of the  mechanism for a particular assembly.
We make no distinction between 2d and 3d mechanisms.
According to the text of the program we with your possible questions can make out the work of a particular mechanism.
(There is an idea and an offer for all wishing to establish on this basis CAD lever mechanisms.)

@Markiyan Hirnyk Answer, what impression about you after you have removed my correspondence with Kitonum and kept silent?
And more, why do you climb into topics where your expertise leaves much to be desired?

@Markiyan Hirnyk Start with http://www.mapleprimes.com/posts/202821-Calculating-Link-Mechanisms, then read carefully my previous message, there http://www.mapleprimes.com/posts/200663-Spatial-Fourbar-Linkages-
And do not forget to share your successes in mastering MapleSim.

@Thomas Richard 

Thank you. It is known that for flat linkages there are many methods of calculation. I promote a universal method for all kinds of linkages and plan to write a paper in English and put on Maplesoft
I can show some the calculations that are unlikely to get be done in MapleSim, for example:
http://www.mapleprimes.com/posts/200663-Spatial-Fourbar-Linkages- 

Variant of animation nearer to a drawing

@vv  So are you talking about ... Well, turn to the desired angle. This is all done by hand

@vv  What kind of animation you say? I gave the main text of the program to the first animation (the program works on  Maple13). The only difference is in the color reproduction.
Another text to the first animation I have not.

@Markiyan Hirnyk What do you allow yourself, what is my name in the forum? Where all my correspondence with Kitonum in that section?
I urge you to behave properly and to eliminate all violations committed by you.

@Markiyan Hirnyk  And where are the other examples of their the links?  

Again in the form of pictures.

@Markiyan Hirnyk  Who is Alexei Ivanov?

Two more similar examples.

@Markiyan Hirnyk 

You, as always, "I heard a bell, but do not know where it is." Is this animation associated with the program  SPIRAL.mw, the moderator  You ours? 

@Kitonum Compilation based on your answer and Thomas Richard

a := [1, 2, 3, 4, 5];
k := parse(cat(op(a)));
whattype(k);
k/5;

@Bendesarts 

I think you yourself can easily get the kinematics of any point with texts of my programs in the first message. For example, rhs (a1), rhs (a2), rhs (a3) correspond to the coordinates of the green point (x1, x2, x3), then

 ((rhs (a1) (s + h) - rhs (a1) (s)) ^ 2+ (rhs (a2) (s + h) - rhs (a2) (s)) ^ 2+ (rhs (a3) (s + h) - rhs (a3) (s)) ^ 2)) ^ 0.5 / h  

will speed along the trajectory of the green point on the rules of numerical differentiation. Similarly calculate the speed of the other points. The second derivative corresponds to acceleration. That is, if we know the coordinates of any point of the mechanism at any time, we can calculate the necessary qualities: any angles, any velocity along any axis, and so on. If you remember, I was trying to ask you: what is the source of such huge trigonometric expressions in your messages?
The presented work (.pdf) was written in Russian, you can try is to translate it using Google-translator, or any other way. I have plans to write more details in English, but this takes time.