Yizhen Cai



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A planar four-bar linkage can be synthesized to achieve at most five positions. Most useful design problems involve many more positions than this with the expectation that the four-bar mechanism will not accomplish the task exactly but will be close. Several methodologies have been proposed in the literature for solving this approximate motion synthesis challenge. Each of these methodologies has a metric central to it. This metric measures how well the mechanism performs at reaching the positions. As each methodology has its own metric, each produces a different optimal design. This research proposes a way to design a four-bar linkage for approximate motion synthesis that does not rely on a position metric. Not only does this produce a unique best solution, but it also provides a method for evaluating other approaches to solve the problem.

Publication Date


Project Designation

Independent Research

Primary Advisor

Andrew P. Murray, Dave Harry Myszka

Primary Advisor's Department

Mechanical and Aerospace Engineering


Stander Symposium project, School of Engineering

A Novel Approach to Design Planar Four-Bar Linkages for Approximation Motion Synthesis