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Paper detail

Cross Ratios of Quadrilateral Linkages

We discuss the cross-ratio map of planar quadrilateral linkages, also in the case when one of the links is telescopic. Most of our results are valid for a planar quadrilateral linkage with generic lengths of the sides. In particular, we describe the image of cross-ratio map for quadrilateral linkage and planar robot 3-arm.

preprint2015arXivOpen access
Giorgi KhimshiashviliDirk Siersma
math.MG
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Giorgi KhimshiashviliDirk Siersma

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