Linkage Transformation
Linkage transformation modifies a linkage according to rules below to produce a desired motion result. Note: The section numbers in this presentation may not be identical to those in your textbook. Rules 1. Replace revolute joint by prismatic joint 2. Replace full joint by a half joint 3. Remove a link 4. Combine rules 2 and 3 above 5. Collapse a higher order link to a lower order one 6. Complete shrinkage is equivalent to rule 3 above

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