A General Method for Determining Algebraic Input-Output Equations for Planar and Spherical 4R Linkages. - Mirja Rotzoll; M. John D. Hayes; Manfred L. Husty; Martin Pfurner (ARK, 2020)

Algebraic Differential Kinematics of Planar 4R Linkages. - M. John D. Hayes; Mirja Rotzoll; Atena E. Iraei; Alia Nichol; Quinn Bucciol (ICAR, 2021)

Algebraic Input-output Angle Equation Derivation Algorithm for the Six Distinct Angle Pairings in Arbitrary Planar 4R Linkages. - Mirja Rotzoll; Quinn Bucciol; M. John D. Hayes (ICAR, 2021)

Spherical 4R Linkage Algebraic $ boldsymbol{v_i}$-$ boldsymbol{v_j}$ Input-Output Equations. - M. John D. Hayes; Mirja Rotzoll; Zachary Copeland (ARK, 2022)