Appendix
Coefficients in (14) are:
References
1。 Nolle H (1974) Linkage coupler curve synthesis: a historical review。I。 Developments up to 1875。 Mech Mach Theory 9:147–158
2。 Cakmak S (2010) There were marble factories 2000 years ago inWest Anatolia。 Turkish newspaper Cumhuriyet’s supplement No:1192, 22 January, pp 6–7
3。 Hain K (1967) Applied kinematics, 2nd edn。 McGraw-Hill, NewYork
4。 Hirschhorn J (1962) Kinematics and dynamics of plane mechanisms。McGraw-Hill, New York
5。 Hartenberg RS, Denavit J (1964) Kinematic synthesis of linkages。McGraw-Hill, New York
6。 Tao DC (1967) Fundamentals of applied kinematics。 Addison-Wesley, Reading
7。 Volmer J (1967) Getriebetechnik, Koppelgetriebe。 Veb VerlagTechnik, Berlin
8。 Lee HS (2008) Creative design of an elliptical trainer with twodegrees of freedom。 Int J Mech Eng Educ 36(4):284–293
9。 Yan H (2006) Innovation design of variable intermittent slidercrankmechanism。 Int J Mech Eng Educ 34(4):349–363
10。 Ottoviano E, Ceccarelli M, Giorgio J, Varone M (2006) Designand evaluation of a discretely actuated multi-module parallel manipulator。Proc ImechE, Part C: J Mech Eng Sci 220:513–526
11。 Andrew IG (1985) A general method for determining the functionalrole of a muscle。 J Biomech Eng 107:348–353
12。 Freudenstein F, Primrose EJF, Ray S, Laks B (1976) Velocity fluctuationin four-bar linkages and slider-crank mechanism。 Journalof Engineering for Industry 1255–1259
13。 HwangWM, Fan YS (2008) Coordination of two crank angles andtwo acceleration poles for a slider crank mechanism using parametricequations。 Proc ImechE, Part C: J Mech Eng Sci 222:483–491
14。 Zhang WJ, Li Q (2006) A closed-form solution to the crank positioncorresponding to the maximum velocity of the slider in acentric slider-crank mechanism。 J Mech Des 128:654–656
15。 Liu J, Hsin-Ting (1997) Synthesis and steady-state analysis ofhigh-speed elastic cam-actuated linkages with fluctuated speedsby a finite element。 J Mech Des 119:395–402
16。 Fung RF, Shue LC (2002) Regulation of flexible slider-crankmechanism by Lyapunov’s direct method。 Mechatronics 12:503–509
17。 Saito H, Ishikawa J, Kamamichi N, Shiotsuki T, Furuta K (2009)Self-turning control for rotational speed of slider-crank mechanism。In: ICROS-SICE International Joint Conference, pp 29–33
18。 Komaito Y, Furuta K (2008) Energy control of slider-crank mechanism。In: SICE Annual Conference, The University Electro-Communications, Japan, August 20–22, pp 2399–240319。 Kao CC, Chuang CW, Fung RF (2006) The self-tuning PID controlin a slider-crank mechanism system by applying particleswarm optimization approach。 Mechatronics 16:513–522
20。 Kimbrell JT (1991) Kinematics analysis and synthesis。 McGraw-Hill, New York
21。 Freudenstein F (1955) Approximate synthesis of 4-bar linkages。ASME Trans 77:853–861
22。 Liaw DG (1975) Analytical synthesis of slider-crank function generationwith fifth-order approximation。 Bull JSME 18(122):891–896
23。 Wu TM (2005) Non-linear solution of function generation of planarfour- link mechanism by homotopy continuation method。 TaiwanJ Appl Sci 5(4):724–728
24。 Reifschneider LG (2005) Teaching kinematic synthesis of linkageswithout complex mathematics。 J Ind Technol 21(4)
25。 Diavagna UM, Balli S, Shrinivas (2007) FSP synthesis of an offsetfive bar-slider mechanism with variable topology。 In: 13th nationalconference on mechanisms and machines, Bangalore, India,December 12–13, pp 345–350
26。 Tso PL (1998) The kinematic synthesis of toggle clamps。 J ManifSci Eng 120:648–655
27。 Crandall HS (1956) Engineering analysis。 McGraw-Hill, NewYork