A graphical approach that is based on the use of the pole triangle among the three poles of the finite rotation, along with its circumcircle and those of the three image pole triangles, which intersect each other at the orthocenter of the pole triangle, is presented in this paper.

This method is applied and parameterized in SolidWorks to synthesize different types of mechanisms for any triple of prescribed positions, as four-bar linkages (4R), slider-crank/rocker mechanisms (3RP), double-sliders (2R2P), guiding mechanisms (RPRP).

Finally, the kinematic characteristics of the rigid-body guidance mechanisms for three finitely and infinitesimally separated positions are compared via significant examples.

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