A novel family of linkages for advanced motion synthesis

A four-bar linkage being able to visit exactly up to five poses, approximate synthesis should be applied for a large number of poses. We introduce here a family of linkages for motion generation, and further derive a method to synthesize one linkage of this family, which can visit up to 11 poses exactly. Interestingly, the upper bound for the number of solutions of the synthesis equations derived for the linkage turned out to be in the billions. An example is given to illustrate and validate the proposed approach.