Table 1.

Desired locations of the coupler link joints.

Desired ith configuration	Ai (mm)	Ri (mm)
1	(12.0, −76.0)	(−27.5, −72.0)
2	(0.0, −73.5)	(−38.5, −63)
3	(−31.5, −37.7)	(−49, −2.8)