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Designing Modern Linkages to Trace Bezier Curves

A design of a class of linkages is presented which are less complex than those suggested by Kapovich and Millson in the conguration of conventional planar linkages. Conventional linkage constraints are relaxed allowing sliding joints and telescoping links. The precise number of xed links, telescoping links, and sliding contacts is determined for this modern linkage to trace a Bezier curve of any degree in 2D or 3D space. A suggested realization of the linkage tracing a quadratic Bezier curve is provided.