Abstract
Grashof linkage was well studied in planar and spherical 4R linkage. In this paper, this characteristic is associated with a spatial linkage evolved from an kirigami loop. Both the overconstrained geometric conditions and the explicit closure equations are derived with the D-H method. It is found out that the 6R overconstrained linkage can work as a crank-rocker or a double crank linkage. Its bifurcation behaviours under two motion modes are analysed. We further transfer this 6R linkage back into the kirigami form and discuss its kinematic behaviours such as spatial 8-shaped trajectories. This work sets up the bridge between the spatial linkages and rigid kirigami forms to develop emerging kinematic behaviours.
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