K.L. Ting and Y.W. Liu. Rotatability laws for n-bar kinematic chains and their proof. ASME Journal of Mechanical Design, 113(1):32-- 39, 1991.

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K.L. Ting and Y.W. Liu. Rotatability laws for n-bar kinematic chains and their proof. ASME Journal of Mechanical Design, 113(1):32-- 39, 1991.

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