This paper describes a rectified synthesis method where a rigid body of a six-bar linkage with well-defined transmission angles is guided to pass through four precision positions. The procedure includes the elimination of circuit, branch, and order defects. This is achieved by decomposing the six-bar mechanism into groups of vector pairs called dyads and groups of three vectors called triads which are rectified using the algebraic method of synthesis. The procedure has been implemented for a Watt I crank-driven six-bar linkage in the interactive synthesis package RECSYN.

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