author = {Z. Li and J. Schicho},
title = {{A technique for deriving equational conditions on the Denavit-Hartenberg parameters of a 6R linkage that are necessary for movability}},
language = {english},
journal = {Mech. Mach. Theory},
volume = {94},
pages = {1--8},
isbn_issn = {0094-114X},
year = {2015},
refereed = {yes},
length = {8}