Classification of higher Mobility closed-loop Linkages
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We provide a complete classification of paradoxical closed-loop n-linkages, where n≥6, of mobility n-4 or higher, containing revolute, prismatic or helical joints. We also explicitly write down strong necessary conditions for nR-linkages of mobility n-5. Our main new tool is a geometric relation between a linkage L and another linkage L' resulting from adding equations to the configuration space of L. We then lift known classification results for L' to L using this relation.
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