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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.

Contributed by: Teijo Arponen

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The Bricard 6R-Mechanism