A symmetry-extended mobility rule

@inproceedings{Guest2003ASM,
  title={A symmetry-extended mobility rule},
  author={Simon D. Guest and Patrick W. Fowler},
  year={2003}
}
A symmetry-extended mobility rule for mechanical linkages is presented, in which the conventional mobility criterion for a linkage is subsumed and strengthened by an equation that predicts symmetries, as well as numbers, of mobilities and states of self stress. 
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