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Discussion: “Necessary and Sufficient Existence Criteria of Overconstrained Five-Link Spatial Mechanisms With Helical, Cylinder, Revolute, and Prism Pairs” (Pamidi, P. R., Soni, A. H., and Dukkipati, R. V., 1973, ASME J. Eng. Ind., 95, pp. 737–743)
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