An alternative method for the synthesizing of the RCRC paradoxical mechanisms: (Use of the invariants of a line displacement)

A new method is presented in this paper which generates all the paradoxical RCRC mechanisms. It is based on the writing of the equalities between the invariants associated with the displacements of the C joint axes provided by both R joints. It leads to a list of cases which, despite the differences of the notations and conventions used, meet exactly the last one proposed by Baker on the subject.