# A Task-Driven Unified Synthesis of Planar Four-Bar and Six-Bar Linkages With R- and P-Joints for Five-Position Realization

> Research article (Journal of Mechanisms and Robotics, 2016) · cited 42× · AI/ML

**Wikidata**: [openalex:W2344013486](https://www.wikidata.org/wiki/openalex:W2344013486)  
**Source**: https://4ort.xyz/entity/a-task-driven-unified-synthesis-of-planar-four-bar-and-six-bar-linkages-with-r-and-p-joints-for-five-position-realizatio