Index
4R loop 78, 88, 91, 92, 111
4R linkage 9, 40
6R frame 130, 132
acceleration 10
alternative form 94, 96, 102, 111, 125, 129
Altmann, P. G. 31, 33, 154
Altmann, S. L. 10, 154
Altmann linkage 31, 33
angle beam 58
with single kink 58
with more kinks 58
arc prismatic joint 9
arch 85
assembly 17, 33–35, 38, 62, 77, 117, 136
single-layer assembly 77
multi-layer assembly 88
axis of revolute joint 13
Baker, J. E. 18–21, 24, 27, 40, 94, 117, 145,
154
Ball, R. S. 10, 154
bathroom retractable mirror 8; see lazy tong
Beggs, J. S. 10, 11, 14, 131, 154
Bennett, G. T. 18, 19, 21, 154
Bennett 6R hybrid linkage 24, 26, 33
Bennett linkage 18–21, 33, 77–116,
139–145, 151
equilateral Bennett linkage 94, 111
Bennett-joint 6R linkage 25, 33
Bennett plano-spherical hybrid linkage 24,
28
Beverley, D. 136, 154
Borel 19
Briand, S. 145, 154
Bricard, R. 27, 154
Bricard linkage 27–31, 33, 117–135, 138,
149–151
doubly collapsible octahedral case 30
general line-symmetric Bricard linkage 27,
28, 30, 132
general plane-symmetric Bricard linkage
27, 28, 30, 117, 132
line and plane symmetric Bricard linkage
129
line-symmetric octahedral case 29, 31
plane-symmetric octahedral case 29
threefold-symmetric Bricard linkage
117–134, 138, 149–151
trihedral Bricard linkage 27, 29, 31, 117
building block 2, 18, 77, 119, 136–152
Calladine, C. R. 33, 35, 154, 155, 157
cam 1, 8, 9, 18
Cartesian coordinate 11
Chai, W. H. 134, 155
Chen, Y. 22, 25, 29, 33, 78, 88, 94, 111,
112, 127, 134, 143, 144, 146, 152,
154–157
Chen & You double-Goldberg linkage 25,
29, 33
circumferential 85
closed chain 9, 11, 15, 17, 18, 33, 58, 62,
64, 65, 77
closure equation 11, 12, 15, 20, 33, 52, 54,
77, 118, 133
compact bundle 64, 69, 85, 94, 110–112,
125
compatibility matrix 34
complex number 11, 12, 43, 46, 48, 49, 54
concentric sphere 9
concurrency point 9, 16
coordinate system 13–15, 103
coupler 7
Crawford, R. F. 102, 155
crease 10
mountain fold 10
valley fold 10
cross bar 122, 146
cylindrical profile 82, 112
Dai, J. S. 18, 156
Darboux 40
deformable structure 1, 62
degrees of freedom 2, 4, 5, 7, 8, 17
idle degree of freedom 7, 17, 34
Denavit, J. 10, 14, 20, 155, 156
deployable structure 1, 36
Dietmaier, P. 25, 155
Dietmaier 6R linkage 25, 33
dome 62, 70
double chain 38
double chain with intersecting element
40–42
4R loop 78, 88, 91, 92, 111
4R linkage 9, 40
6R frame 130, 132
acceleration 10
alternative form 94, 96, 102, 111, 125, 129
Altmann, P. G. 31, 33, 154
Altmann, S. L. 10, 154
Altmann linkage 31, 33
angle beam 58
with single kink 58
with more kinks 58
arc prismatic joint 9
arch 85
assembly 17, 33–35, 38, 62, 77, 117, 136
single-layer assembly 77
multi-layer assembly 88
axis of revolute joint 13
Baker, J. E. 18–21, 24, 27, 40, 94, 117, 145,
154
Ball, R. S. 10, 154
bathroom retractable mirror 8; see lazy tong
Beggs, J. S. 10, 11, 14, 131, 154
Bennett, G. T. 18, 19, 21, 154
Bennett 6R hybrid linkage 24, 26, 33
Bennett linkage 18–21, 33, 77–116,
139–145, 151
equilateral Bennett linkage 94, 111
Bennett-joint 6R linkage 25, 33
Bennett plano-spherical hybrid linkage 24,
28
Beverley, D. 136, 154
Borel 19
Briand, S. 145, 154
Bricard, R. 27, 154
Bricard linkage 27–31, 33, 117–135, 138,
149–151
doubly collapsible octahedral case 30
general line-symmetric Bricard linkage 27,
28, 30, 132
general plane-symmetric Bricard linkage
27, 28, 30, 117, 132
line and plane symmetric Bricard linkage
129
line-symmetric octahedral case 29, 31
plane-symmetric octahedral case 29
threefold-symmetric Bricard linkage
117–134, 138, 149–151
trihedral Bricard linkage 27, 29, 31, 117
building block 2, 18, 77, 119, 136–152
Calladine, C. R. 33, 35, 154, 155, 157
cam 1, 8, 9, 18
Cartesian coordinate 11
Chai, W. H. 134, 155
Chen, Y. 22, 25, 29, 33, 78, 88, 94, 111,
112, 127, 134, 143, 144, 146, 152,
154–157
Chen & You double-Goldberg linkage 25,
29, 33
circumferential 85
closed chain 9, 11, 15, 17, 18, 33, 58, 62,
64, 65, 77
closure equation 11, 12, 15, 20, 33, 52, 54,
77, 118, 133
compact bundle 64, 69, 85, 94, 110–112,
125
compatibility matrix 34
complex number 11, 12, 43, 46, 48, 49, 54
concentric sphere 9
concurrency point 9, 16
coordinate system 13–15, 103
coupler 7
Crawford, R. F. 102, 155
crease 10
mountain fold 10
valley fold 10
cross bar 122, 146
cylindrical profile 82, 112
Dai, J. S. 18, 156
Darboux 40
deformable structure 1, 62
degrees of freedom 2, 4, 5, 7, 8, 17
idle degree of freedom 7, 17, 34
Denavit, J. 10, 14, 20, 155, 156
deployable structure 1, 36
Dietmaier, P. 25, 155
Dietmaier 6R linkage 25, 33
dome 62, 70
double chain 38
double chain with intersecting element
40–42