Hansen-type approach

For planar mechanisms this has been dealt with for many years and both textbooks and papers treating the subject are available, e.g. [1-9]. The geneml approach in most presentations has been to focus on one specific type of mechanism and develop a method for synthesizing that particular mechanism. Only a few papers treat more general formulations that are capable of dealing with arbitrary mechanisms. Examples of this are HAUG SOHONI [3] and HANSEN [10]. 

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