1. Example

3. Analysis - Synthesis Fixing the motion parameters the equation can be used for synthesis Example: Burmester problem Design Space

4. Analysis - Synthesis Fixing the motion parameters the equation can be used for synthesis Example: Burmester problem Design Space

5. given five poses of a planar system, construct a fourbar mechanism whose endeffector passes through all five poses BURMESTER L. (19th century)

6. Figures Example 1 Three equations give stratification of design space Brunnthaler et.al. 2005

7. Branch defect two precision points to design a four-bar linkage lie on separate circuits of a coupler curve Waldron and Stevenson (1979) Gupta (1980) Prentis (1991) Schaefer and Kramer (1979) DaLio et al. (2000) The parameters in the constraint equation yield three different cases!

8. Intersection of hyperboloids One branch