Abstract
This paper presents an overconstrained 6R linkage which is originated from a metamorphic 8R linkage. The 2-fold rotational symmetry reveals that the overconstrained 6R linkage is a special line-symmetric Bricard loop. The parametric constraints of the overconstrained 6R linkage are investigated in terms of Denavit–Hartenberg convention. This leads to identification of possible variation of parametric constraints for the special line-symmetric Bricard loops. The kinematics of the overconstrained 6R linkage is analyzed and motion parameters of the joint-space are derived. The resultant spherical 4R linkage of the overconstrained 6R linkage is addressed. The results of the joint-space solution are verified with a numerical example.
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The authors thank the support of European Commission – FP7 under Grant No. 270436 and help from Evangelos Emmanouil on the 
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Appendix: Appendix A
Appendix: Appendix A
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Zhang, K., Dai, J.S. (2012). Kinematics of an Overconstrained 6R Linkage with 2-Fold Rotational Symmetry. In: Lenarcic, J., Husty, M. (eds) Latest Advances in Robot Kinematics. Springer, Dordrecht. https://doi.org/10.1007/978-94-007-4620-6_29
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DOI: https://doi.org/10.1007/978-94-007-4620-6_29
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