Waldron, KJ 1969, 'Symmetric overconstrained linkages', Journal of Manufacturing Science and Engineering, Transactions of the ASME, vol. 91, no. 1, pp. 158-162.
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A study is made of the mobility of linkages with line and plane symmetry. The symmetry conditions are shown to give rise to several very general classes of overconstrained linkages. © 1969 by ASME.