Circle-point synthesis identifies points on coupler body ABK that move along a circular arc with center M(xₘ, yₘ) and radius r.
Synthesis Formulation:
• x₁, x₂, x₃, x₆: Crank, coupler, rocker, and ground link lengths.
• K(x₄, x₅): Position of circle point in coupler local coordinate system.
• x₇, x₈, x₉: Fixed pivot O₂ coordinates (x₇, x₈) and O₄ Y-offset (x₉).
• M(xₘ, yₘ): Center of the circular trajectory arc in fixed world frame.
• r: Circular trajectory radius; radial deviation is minimized via Galerkin, Subdomain, or Precision Point integration.