This paper presents a general method for the analysis of any planar mechanism consisting of rigid links connected by revolute joints. The method combines a complex plane formulation  with the Dixon determinant procedure of Nielsen and Roth . The result is simple to derive and implement, so in addition to providing numerical solutions, the approach facilitates analytical explorations. The procedure leads to a generalized eigenvalue problem of minimal size. Both input/output problems and the derivation of tracing curve equations are addressed, as is the extension of the method to treat slider joints.
Solving the Kinematics of Planar Mechanisms by Dixon Determinant and a Complex-Plane Formulation
Contributed by the Mechanisms Committee for publication in the JOURNAL OF MECHANICAL DESIGN. Manuscript received Jul. 2000. Associate Editor: J. S. Rastegar.
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Wampler, C. W. (July 1, 2000). "Solving the Kinematics of Planar Mechanisms by Dixon Determinant and a Complex-Plane Formulation ." ASME. J. Mech. Des. September 2001; 123(3): 382–387. https://doi.org/10.1115/1.1372192
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