In this paper, we have presented a unified framework for generating planar four-bar motions for a combination of poses and practical geometric constraints and its implementation in MotionGen app for Apple's iOS and Google's Android platforms. The framework is based on a unified type- and dimensional-synthesis algorithm for planar four-bar linkages for the motion-generation problem. Simplicity, high-utility, and wide-spread adoption of planar four-bar linkages have made them one of the most studied topics in kinematics leading to development of algorithms and theories that deal with path, function, and motion generation problems. Yet to date, there have been no attempts to develop efficient computational algorithms amenable to real-time computation of both type and dimensions of planar four-bar mechanisms for a given motion. MotionGen solves this problem in an intuitive fashion while providing high-level, rich options to enforce practical constraints. It is done effectively by extracting the geometric constraints of a given motion to provide the best dyad types as well as dimensions of a total of up to six four-bar linkages. The unified framework also admits a plurality of practical geometric constraints, such as imposition of fixed and moving pivot and line locations along with mixed exact and approximate synthesis scenarios.

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