A Parametrization-Invariant Fourier Approach to Planar Linkage Synthesis for Path Generation

Figure 4

Curve normalization process. In (a), the original curve is shown; in (b), the curve is rotated around its center to align its major and minor principal axis of inertia of moment with -axis and -axis of fixed frame, respectively; in (c), a bounding box with width and height is produced to tightly confine the curve and is determined merely by the shape of the curve; in (d), we resize the curve with its bounding box so that width of bounding box becomes 1 and height and then relocate the bounding box to the origin of fixed frame.

(a)

(b)

(c)

(d)