Ketao Zhang, Jian S. Dai. Kinematics of an Overconstrained 6R Linkage with 2-Fold Rotational Symmetry. In Jadran Lenarcic, Manfred Husty, editors, Latest Advances in Robot Kinematics, ARK 2012, Innsbruck, Austria, June 24-28, 2012. pages 229-236, Springer, 2012. [doi]
Abstract is missing.