# A technique for deriving equational conditions on the Denavit–Hartenberg parameters of 6R linkages that are necessary for movability

> Research article (Mechanism and Machine Theory, 2015) · cited 36× · AI/ML

**Wikidata**: [openalex:W1820624309](https://www.wikidata.org/wiki/openalex:W1820624309)  
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