Function generation synthesis with planar 4-bar linkage as a mixed problem of correlation of crank angles and dead-center design

The function generation synthesis of planar four-bar linkage is formulated as a mixed problem of correlation or crank angles and dead-center design. The syn-thesis is based on three desired configurations of the linkage, where the input and output joint angles are specified for two of the configurations and the coupler link is folded upon the output link for the third configuration. The formulation results in a set of nonlinear equations which can be solved analytically. The formulations are tested with numerical examples and similar mixed function generation problems are briefly discussed