The synthesis of a six-bar Watt linkage for use as an angular motion compensator is presented. Functional requirements of an angular motion compensator for achieving a desired delay in the output motion were translated into the crank angle and crank velocity relationships of the mechanism. Design equations and procedures were derived for the synthesis of a special symmetrical six-bar Watt linkage. It has been shown that the synthesis of a symmetrical six-bar linkage can be decoupled into the synthesis of two identical four-bar linkages. This paper also illustrates how to adjust the phase of the mechanism to achieve various different delays in the output motion without changing the basic linkage proportions.

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