Figure 3
From: Solution of underdetermined systems of equations with gridded a priori constraints
A mechanism consisting of four equal legs with hinges at their edges. This mechanism corresponds to a rhomb, shown for two cases (solid and dashed lines). Assuming a fixed centre of gravity at the origin and one of the coordinates on the x-axis, the loci of the edge points are defined. Red lines (segments of length d) indicate the loci of points A, B, C, D. In addition, structural constraints are expressed by Eq. 12.