Exact dwells can exist only in synthetic motion such as that of cams. Generated motion such as that of linkages can only produce approximate dwells. This paper defines such approximate dwells as “hesitations,” reduces them to theory, then proceeds to develop techniques for designing mechanisms to produce approximate dwells of various degrees. The discussion involves properties of path curvature and mechanisms connected in series; it also introduces “chain derivatives”—a useful concept in the analysis of compound motions.

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