1. From: Kinematics, Polynomials, and Computers—A Brief History
Date of download: 12/30/2017
Copyright © ASME. All rights reserved.
From: Kinematics, Polynomials, and Computers—A Brief History
J. Mechanisms Robotics. 2011;3(1): doi: /
Figure Legend:
Watt’s linkage transforms the rotational motion of the great beam into the linear motion of the cylinder

2. From: Kinematics, Polynomials, and Computers—A Brief History
Date of download: 12/30/2017
Copyright © ASME. All rights reserved.
From: Kinematics, Polynomials, and Computers—A Brief History
J. Mechanisms Robotics. 2011;3(1): doi: /
Figure Legend:
Roger Kaufman using interactive computer graphics for linkage synthesis at MIT in 1970