Kinematic Synthesis of Linkages

a₁ algebraic angle angular velocity approximate asymptotes axes axis B₁ C₁ center point centrodes chain Chebyshev spacing coefficients cognate linkages coincident points complex numbers connection considered construction coordinates corresponding counterclockwise coupler curve coupler point crank and follower crank mechanism crank rotation crunode cubic of stationary defined determinant Euler-Savary equation example FIGURE five accuracy points fixed plane four accuracy points four-bar linkage function geometric Grashof inflection circle input instantaneous center intersection interval K₁ kinematic kinematic chain kinematic pairs linear matrix maxima and minima method midnormals moving plane output path perpendicular planar points at infinity pole triangle polynomial prismatic pair problem radius relation relative motion relative pole R12 respect shown in Fig slider slider-crank mechanism solution stationary curvature straight line straight-line mechanism structural error symbolic synthesis tangent theorem three accuracy points tion values variable vector whence yields zero αι Φι Ов