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For a given linkage with one degree of freedom we can analyze the coupler curve created by any selected tracer point in relation to a driver link. The Watt Engine is a four-bar linkage constructed such that the tracer point draws an approximate straight line along a section of the coupler curve. We will explore the family of linkages that are created using Watt's parameters, along with linkages designed by other inventors; looking at methodologies of creating a linkage and the defining what we mean by approximate straight-line motion. Ultimately we will be creating our own linkage using what we have learned from previous inventors, and our new found classifications and definitions for linkage construction.
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Servatius, Peter K., "Concerning the Construction of Four-bar Linkages and Their Topological Configuration-spaces" (2018). Senior Projects Spring 2018. 211.