In our previous tutorials, such as [ 3-Position Motion Generation Synthesis with Alternate Moving Pivots ], we used a "standard" synthesis approach. We defined the moving coupler first, and the geometry dictated where the ground pivots (O 2 and O 4 ) had to be. But what if you don't have that freedom? In real-world machine design, you often have a pre-existing frame or base. You cannot drill holes just anywhere; the ground pivots must be located at specific, available points. In this scenario, the standard method fails because it gives you valid kinematic solutions that might require mounting a pivot in thin air or inside a motor. The Solution: Kinematic Inversion To solve this, we use the Inversion Method . The Core Concept: Instead of looking at the mechanism from the perspective of a stationary ground and a moving coupler, we invert our perspective. We pretend the Coupler is stationary and the Ground is moving . By fixing the coup...
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