The Bricard linkages 133
,
,
(6.13)
.
For the 6R frame, the revolute variables of the original linkage at the fully
expanded and fully folded configurations are
(6.14)
Applying the matrix method, the closure equations of this Bricard linkage
are obtained as
,
(6.15a)
,
(6.15b)
Figure 6.22 The detailed links of a six-bar frame and its original linkage.