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  • @article{RISC5228,
    author = {Z. Li and J. Schicho},
    title = {{A technique for deriving equational conditions on the Denavit-Hartenberg parameters of a 6R linkage that are necessary for movability}},
    language = {english},
    journal = {Mech. Mach. Theory},
    volume = {94},
    pages = {1--8},
    isbn_issn = {0094-114X},
    year = {2015},
    refereed = {yes},
    length = {8}
    }