The synthesis of 4-bar linkage coupler curves using derivatives of the radius of curvature—I. Straight path procedure

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A procedure allowing two degrees of freedom in locating a coupler point is presented for the case of an approximately straight coupler point path such that the zeroes of the first and second derivatives of the radius of curvature are approximated. In the case of the two degrees, both the first and second derivatives of the radius of curvature are specified with respect to the loci of the zeroes of the derivatives. For the synthesis procedure, an example is presented illustrating the entire technique. This is Part I, Straight Path Procedure; Part II will present Circular Path Procedure.