One method for generating a Watt II six-bar with a sliding output is to identify the location of its six revolute (R) joints. The location of the output prismatic (P) joint does not need to be identified as it can be assumed to allow vertical motion through the final R joint. If classified, like the 4R, based on the range of motion of each link as cranking or rocking, a number of possibilities exist classifying the four moving links connecting the six R joints. In this paper, we introduce a methodology for ensuring that the link connecting the first two R joints is a crank. As there are four more locations to specify, each location needs to be selected in light of the locations of the previous R joints. To accomplish this goal, we identify the Watt II six-bar transition linkages on the boundary between classifications.

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