An algorithm for planar linkage simulation

Hartenberg, 1964 Roth, 1962, Synthesis of Four Link Path Generating Mechanisms with Optimum Transmission Characteristics, 44 Dimarogonas, 1971, Synthesis of a Geared N-bar Linkage, Journal of Engineering for Industry, 157, 10.1115/1.3427869 Pafelias, 1972, Synthesis of a Geared N-bar Linkage for Path Generation Dimarogonas, 1971, A General Method for Analysis of Mechanical Systems, 3rd World Congress for the Theory of Machines and Mechanisms, Volume H-Paper H-10, 121