A Practical Implementation of Kempe’s Universality Theorem

Yanping Chen, Laura Hallock, Eric Söderström, Xinyi Zhang

(Final Project for 6.849 Fall 2012)

For this project, we implemented a JavaScript simulation employing Kempe’s Universality Theorem to construct linkages constrained to a user-inputted curve. In addition to the literal linkage construction, the implementation includes novel algebraic and physics systems, as well as various optimization techniques to simplify the linkage in size and complexity.