This paper presents some experiences on the teaching of kinematics and robotics in Mexican universities. A short sociological background information together with generalities about the curricula of mechanical and mechatronics engineers is shown. After that, the contents of two courses Mechanisms and Robotics are presented in detail. Finally, three unrelated examples of learning aids design and the introduction of more advanced mathematical tools to the study of kinematics of machinery and robotics are discussed. Nevertheless, the examples show the effort to overcome some of the deficiencies of our incoming engineering students.

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