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In this paper we present a computational approximate synthesis procedure for the planar RR chain. Our approach is based on a grid search and takes an arbitrary amount of user-defined task positions for the two outer bodies of the chain and restrictions for both joints into account. The result of this synthesis approach is not only one optimal solution, but a list of several possible solutions which are ranked according to their performance. The approach aims at being used in building block-based synthesis procedures of more complex linkages. The method shall later be included into a CAD-integrated design tool for planar linkages.

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