A study of overconstrained linkage geometry by solution of closure equations — Part II. Four-bar linkages with lower pair joints other than screw joints☆

Abstract The methods of Part I are applied to four-bar linkages with revolute, prismatic, cylindric, planar and spherical joints. 21 forms of overconstrained linkage without passive degrees of freedom are derived. This paper is intended to be read in conjunction with Part I[24].