Classification of higher mobility closed-loop linkages
By the formula of Chebychev-Grübler-Kutzbach a closed-loop linkage consisting of \(n\) rigid bodies that are cyclically arranged and connected consecutively with revolute, prismatic, or helical joints has \(d = n-6\) degrees of freedom. As the formula basically counts free variables and constraints, this equality only holds generically. In fact, numerous exceptions with \(d > n-6\) (``paradoxical linkages) are known. Paradoxical closed-loop linkages for \(n \le 5\) have been classified completely by [\textit{Et. Delassus}, Bull. Sci. Math., II. Sér. 46, 283--304 (1922; JFM 49.0566.06); \textit{A. Karger}, Mech. Mach. Theory 33, No. 1--2, 213--222 (1998; Zbl 1052.70506); \textit{H. Ahmadinezhad} et al., J. Pure Appl. Algebra 219, No. 6, 2245--2259 (2015; Zbl 1305.70005)]. In spite of huge research efforts and significant progress during the last decade, the case \(n = 6\) is still wide open. This article contributes to the general classification problem by providing complete descriptions of paradoxical closed-loop linkages with \(n \ge 6\) joints that have \(d \ge n - 4\) degrees of freedom. While the linkages with \(n > 6\), \(d = n-4\) and \(n \ge 5\), \(d \ge n-3\) are fairly simple, the case \(n = 6\) and \(d = n - 4 = 2\) produces non-trivial examples that highlight, once more, the importance of ``zero offset and ``equal Bennett ratio conditions. The latter also appear in strong necessary conditions on paradoxical linkages with \(n > 6\) and \(d = n - 5\). Apart from algebraic properties of dual quaternions with complex coefficients and careful case distinctions, the proofs use a new technique, the ``freezing of joints in generic positions. It decrements at the same time the number of joints \(n\) and the degrees of freedom \(d\), thus reducing the discussion to simpler and, ultimately, well-known cases.
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