Acar, OsmanŞaka, ZiyaÖzçelik, Ziya2020-03-262020-03-2620192211-0984https://dx.doi.org/10.1007/978-3-030-20131-9_35https://hdl.handle.net/20.500.12395/38465The paper presents a parametric form of Euler-Savary equations for spherical instantaneous kinematics. The formulation procedures are explained for Ball and Ball-Burmester points. The parametric forms of the equations are used to determine the coordinates of fixed joints of various four bar mechanisms for validation. © 2019, Springer Nature Switzerland AG.en10.1007/978-3-030-20131-9_35info:eu-repo/semantics/closedAccessBall-Burmester pointsEuler-Savary equationParametric equationBook Chapter73347356Q4