Reduced number of design parameters in optimum path synthesis with timing of four-bar linkage

The paper presents the method for the optimal synthesis of four-link mechanism generating
open/closed paths with time prescription. Although the method is suitable for both closed
and open paths, it enables decreasing the number of design parameters describing dimensions,
orientation and position of a path generator. Compared to the methods presented in
the references, this is a one-phase synthesis method; although the number of design parameters
is reduced, the method does not require affine transformations to be performed on
the synthesised mechanism. The effectiveness of the method is discussed based on examples
of three paths, with two taken from the literature.