Abstract
Traditionally, a linkage kinematic problem has been solved using either analytical (including constraint) methods, graphical methods, or numerical simulation methods [80, 87, 90, 183]. These methods are mathematically complete, but require detailed formulation of the problem, which is often linkagedependent [91, 170]. For the problem of deriving the locus traced by a certain point of the mechanism, the standard algebraic method has been extensively used in the past (a detailed review is provided in [91]). In the algebraic formulation, this problem is translated into that of finding a point (x, y) which traces the curve satisfying an equation F(x, y) = 0, where F is a rational integral algebraic function of x and y.
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