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Mechanisms are used in many devices to move a rigid body through a finite sequence of prescribed locations. The most commonly used mechanisms are four-bar planar mechanisms that move an object in one plane in space. Spatial mechanisms allow motion in three-dimensions (3D), however, to date they are rarely implemented in industry in great part due to the inherent visualization and design challenges involved. Nevertheless, they do provide promise as a practical solution to spatial motion generation and therefore remain an active area of research. Spatial 4C mechanisms are two degree-of-freedom kinematic closed-chains consisting of four rigid links simply connected in series by cylindrical (C) joints. A cylindrical joint is a two degree-of-freedom joint, which allows translation and rotation about a line in space. This paper describes a synthesis process for the design of 4C spatial mechanisms in a virtual …