Abstract: Based on the pole method and the computer symbolic manipulating technique, a fourth order algebraic equation with single variable is derived for the closed form solution of planar path generators. The newly developed solution method eliminates the requirement of solving system of nonlinear equations. All solutions of the problem can be obtained directly and easily without the need of initial values. A numerical example is given demonstrating the efficiency and advantages of the method.

Key words: Planar mechanism, Rigid body guide, Synthesis