An analytical method of synthesizing four-bar mechanisms based on the motion of the coupler-bar plane is presented. The method is based on the theory of roulettes, which treats of the paths of points in the plane of a curve which rolls without slipping on another curve. The method is used to devise a mechanism having a coupler-bar curve which will approximate a desired curve. Also, the method is used to synthesize a mechanism which will approximate a given input-output crank angle relationship. It is best utilized with a digital computer.

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