Three Types of Parallel 6R Linkages

  • Zijia LiEmail author
  • Josef Schicho
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 15)


In this paper, we consider a special kind of overconstrained 6R closed linkages which we call parallel 6R linkages. These are linkages with the property that they have three pairs of parallel joint-axes. We prove that there are three types of parallel 6R linkage. The first type is new, the other two also appear in a recent classification of linkages with angle equalities. We give constructions for each of the three types.


Dual quaternions Overconstrained 6R linkages Translation property Angle-symmetric 6R linkages 



The research was supported by the Austrian Science Fund (FWF): W1214-N15, project DK9.


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© Springer Science+Business Media Dordrecht 2014

Authors and Affiliations

  1. 1.Johann Radon Institute for Computational and Applied MathematicsAustrian Academy of Sciences (RICAM)LinzAustria

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