Profs. Carl Nelson and Anurag Purwar organized a Summer School on Kinematic Theory at the University at Buffalo, New York as part of the 2014 ASME Design Engineering Technical Conferences. Please select this link to get access to all of the talks: Kinematics Summer School.
My lecture is the third item on the playlist.
The pdf of my talk can be found the link: Synthesis of Planar Six-bar and Eight-bar Linkages.
Among these is a nice presentation by Anurag Purwar on Quaternions and Clifford Algebras.