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The Bricard 6R-Mechanism
The famous Bricard mechanism applies to a cyclic chain of six rotational joints, connecting links of equal length.



T. Arponen, S. Piipponen, and J. Tuomela, "Kinematic Analysis of Bricard's Mechanism," Nonlinear Dynamics, 56(1-2), 2009 pp. 85–99.

"The Bricard 6R-Mechanism" from The Wolfram Demonstrations Project
 http://demonstrations.wolfram.com/TheBricard6RMechanism/
Contributed by: Teijo Arponen
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