The geometry of singular foci of planar linkages (Q1765247)

The focal points of a curve traced by a planar linkage capture essential information about the curve. In a previous paper by the same author an approach was shown to determine the singular foci of planar linkage from an expression for the tracing curve derived by use of the Dixon determinant. The method proposed in the present paper yields a better understanding of the foci in terms of geometric diagrams, and often leads to simple symbolic expression. The new geometric picture also explains why some singular foci appear with multiplicity greater than one. The method is demonstrated for inversions of Stephenson-3 six bar and Watt-1 six bar. A by-product of the study is a technique for illustrating the non-real points on a tracing curve. As the singular foci represent essential characteristics of the curve traced by a planar linkage, their investigation and determination can be of use in the design of path-generating linkages.