The geometrical device of a tetrahedron used by Bennett to elucidate the surprising mobility of his four-bar kinematic chain is here interpreted as harbouring a very compact multi-loop linkage, including a pair of six-bar chains of unusual constitution. Their embodied non-linear helical joints are of particular relevance to workers in the area of finite displacements. The intermingled loops call for an intricate set of relationships, and investigation of mobilities is executed with dual screw-vectors, a most effectual tool for the task.
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4.
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14.
ParkinI. A.A third conformation with the screw systems: Finite twist displacements of a directed line and point. Mech. Mach. Theory199227(2)177–188.
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