Kinematic mapping based evaluation of assembly modes for planar four-bar synthesis

This paper presents a new method to determine if two task positions used to design a four-bar linkage lie on separate circuits of a coupler curve, known as a "branch defect." The approach uses the image space of a kinematic mapping to provide a geometric environment for both the synthesis and analysis of four-bar linkages. In contrast to current methods of solution rectification, this approach guides the modification of the specified task positions, which means it can be used for the complete five position synthesis problem.