Based on derived matrix loop equations and their algebraic manipulations, we systematically identify three types of movable spatial 6R mechanisms with three adjacent concurrent axes. The first type was not discovered algebraically. The second type is a general form of the Cardan mechanism. The third type is a plane-symmetry mechanism which was derived by Waldron.
|頁（從 - 到）||85-90|
|期刊||Transactions of the Canadian Society for Mechanical Engineering|
|出版狀態||Published - 1990 一月 1|
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