Lecture 1: Introduction to the class; overview of topics and problems considered
Page 2: Linkages: converting linear motion to circular motion, Watt parallel motion, Peaucellier linkage, universality, rigidity
There are Java applets for the Watt parallel motion and Peaucellier linkage.
You can also view Kempe's How To Draw A Straight Line.
These are rough, personal lecture notes handwritten by Erik Demaine used during lecture. Their primary purpose is for reading/review by students of the class. Accessibility
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