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)