Watt Linkage zCircular to nearly linear z[Watt.cdy]Watt.cdy
Peaucellier Linkage zCircular to linear z[Peaucellier.cdy]Peaucellier.cdy
Universality Theorems zTheorem 4.2.3 ([KM02]) Let C be a bounded portion of an algebraic curve in the plane. Then there exists a planar linkage such that the orbit of one joint is precisely C. zTheorem 4.2.4 ([JS99]) Let V R d be a compact real algebraic variety (with topology induced by the Euclidean topology of R d ). Then V is homeomorphic to some components of a planar linkage.
Kapovich & Millson 2002 z[Kem76] Alfred Bray Kempe. On a general method of describing plane curves of the nth degree by linkwork. Proc. London Math. Soc., 7:213-216, 1876. z[KM02] Michael Kapovich and John J. Millson. Universality theorems for configuration spaces of planar linkages. Topology, 41(6):1051-1107, 2002.