Date of download: 7/10/2016 Copyright © ASME. All rights reserved. From: Automated Generation of Linkage Loop Equations for Planar One Degree-of-Freedom Linkages, Demonstrated up to 8-Bar J. Mechanisms Robotics. 2015;7(1): doi: / Example Watt I linkage reaching a task position Figure Legend:

Date of download: 7/10/2016 Copyright © ASME. All rights reserved. From: Automated Generation of Linkage Loop Equations for Planar One Degree-of-Freedom Linkages, Demonstrated up to 8-Bar J. Mechanisms Robotics. 2015;7(1): doi: / Double butterfly 8-bar adjacency matrix, graph, and linkage sketch Figure Legend:

Date of download: 7/10/2016 Copyright © ASME. All rights reserved. From: Automated Generation of Linkage Loop Equations for Planar One Degree-of-Freedom Linkages, Demonstrated up to 8-Bar J. Mechanisms Robotics. 2015;7(1): doi: / Example 8-bar adjacency matrix and adjacency graph Figure Legend:

Date of download: 7/10/2016 Copyright © ASME. All rights reserved. From: Automated Generation of Linkage Loop Equations for Planar One Degree-of-Freedom Linkages, Demonstrated up to 8-Bar J. Mechanisms Robotics. 2015;7(1): doi: / The first level shortest path Figure Legend:

Date of download: 7/10/2016 Copyright © ASME. All rights reserved. From: Automated Generation of Linkage Loop Equations for Planar One Degree-of-Freedom Linkages, Demonstrated up to 8-Bar J. Mechanisms Robotics. 2015;7(1): doi: / A second level shortest path Figure Legend:

Date of download: 7/10/2016 Copyright © ASME. All rights reserved. From: Automated Generation of Linkage Loop Equations for Planar One Degree-of-Freedom Linkages, Demonstrated up to 8-Bar J. Mechanisms Robotics. 2015;7(1): doi: / Two second level shortest paths Figure Legend:

Date of download: 7/10/2016 Copyright © ASME. All rights reserved. From: Automated Generation of Linkage Loop Equations for Planar One Degree-of-Freedom Linkages, Demonstrated up to 8-Bar J. Mechanisms Robotics. 2015;7(1): doi: / A third level shortest path Figure Legend:

Date of download: 7/10/2016 Copyright © ASME. All rights reserved. From: Automated Generation of Linkage Loop Equations for Planar One Degree-of-Freedom Linkages, Demonstrated up to 8-Bar J. Mechanisms Robotics. 2015;7(1): doi: / Another third level shortest path Figure Legend:

Date of download: 7/10/2016 Copyright © ASME. All rights reserved. From: Automated Generation of Linkage Loop Equations for Planar One Degree-of-Freedom Linkages, Demonstrated up to 8-Bar J. Mechanisms Robotics. 2015;7(1): doi: / The four unique cycles Figure Legend:

Date of download: 7/10/2016 Copyright © ASME. All rights reserved. From: Automated Generation of Linkage Loop Equations for Planar One Degree-of-Freedom Linkages, Demonstrated up to 8-Bar J. Mechanisms Robotics. 2015;7(1): doi: / The cycle basis Figure Legend:

Date of download: 7/10/2016 Copyright © ASME. All rights reserved. From: Automated Generation of Linkage Loop Equations for Planar One Degree-of-Freedom Linkages, Demonstrated up to 8-Bar J. Mechanisms Robotics. 2015;7(1): doi: / Double butterfly unique mechanisms Figure Legend:

Date of download: 7/10/2016 Copyright © ASME. All rights reserved. From: Automated Generation of Linkage Loop Equations for Planar One Degree-of-Freedom Linkages, Demonstrated up to 8-Bar J. Mechanisms Robotics. 2015;7(1): doi: / Double butterfly unique linkages Figure Legend:

Date of download: 7/10/2016 Copyright © ASME. All rights reserved. From: Automated Generation of Linkage Loop Equations for Planar One Degree-of-Freedom Linkages, Demonstrated up to 8-Bar J. Mechanisms Robotics. 2015;7(1): doi: / Naming convention, example 8-bar Figure Legend: