Hypo-paradoxical Linkages: Linkages That Should Move-But Don't
Physics and Society
2025-09-30 v2 Robotics
Abstract
While paradoxical linkages famously violate the Chebyshev-Grubler-Kutzbach criterion by exhibiting unexpected mobility, we identify an opposing phenomenon: a class of linkages that appear mobile according to the same criterion, yet are in fact rigid. We refer to these as hypo-paradoxical linkages, and proceed to analyze and illustrate their behavior. We use the same tools to further explain the unexpected positive mobility of Bennet mechanism.
Keywords
Cite
@article{arxiv.2507.20371,
title = {Hypo-paradoxical Linkages: Linkages That Should Move-But Don't},
author = {Nir Shvalb and Oded Medina},
journal= {arXiv preprint arXiv:2507.20371},
year = {2025}
}
Comments
15 pages, 8 figures