One may wish to define the velocity transformation in addition to the displacement transformation for synthesizing a mechanism. The approach presented here is essentially that noted as the “damped least squares” that allows for successive adjustment of the parameters which define a particular type mechanism. The repetitive application of this process results in a convergence toward an optimum approximation of the displacement and velocity transformation curves which are described by a series of data points. The method has been applied to a four-bar linkage as an example of application; the approach or technique is general and is not limited in use to any specific mechanism.

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