Synthesis of Planar Mechanisms for Pick and Place Tasks With Guiding Positions

In this work we address a variation on the traditional rigid body guidance problem; the challenge of designing a mechanism to move something from “here” to “there”. The specific variation we address is the so called mixed exact and approximate synthesis problem in which the object is to begin and end its motion at precise positions and in between come as close as possible to an arbitrary number of guiding positions that have been chosen to shape the emotion of the object as it travels from “here” to “there”.