Can you design a mechanism that will trace out the shape of a heart? How about the shape of a moon, or a star? Mechanism design—the art of assembling linkages and joints to create machines with prescribed motion—is one of the quintessential activities of mechanical engineers, but has resisted automation for almost two centuries.
In his seminal 1841 book Principles of Mechanisms, Oxford professor Robert Willis famously noted, “When the mind of a mechanician is occupied with the contrivance of a machine, he must wait until, in the midst of his meditations, some happy combination presents itself to his mind which may answer his purpose.”
Almost 200 years later, we still teach machine design mostly by apprenticeship. While we can simulate machines of almost any complexity, systematic methods for design are known only for the most trivial contraptions.







