In the late 1800s F. Reuleaux, A. B. W. Kennedy, and L. Burmester formalized the analysis and synthesis of linkage systems using descriptive geometry, and P. L. Chebyshev introduced analytical techniques for the study and invention of linkages [REF].
In the mid-1900s F. Freudenstein and G. N. Sandor[REF] used the newly developed digital computer to solve the loop equations of a linkage and determine its dimensions for a desired function, initiating the computer-aided design of linkages.