Wikipeida entry: http://en.wikipedia.org/wiki/Kinematics
Full view treatise on Google Books: The Kinematics of Machinery: Outlines of a Theory of Machines [[ http://en.wikipedia.org/wiki/Sarrus_linkage%7C ]]
Interesting application for parts printers:
http://en.wikipedia.org/wiki/Sarrus_linkage
RepRap-able Sarrus linkages: http://blog.makerbot.com/2009/12/12/beautiful-makerbot-printable-sarrus-linkage/
Simulation capability for trying stuff out:
Blender's Inverse Kinematics Solver
Mechanical Fire Control Computer: