Abstract
This study aims to investigate the algebraic forms of the constraint manifolds of 4R and 6R planar and spherical closed chains in Lorentzian space. For this purpose, firstly, the structure equations of closed chains are obtained by using the structure equations of planar and spherical open chains in Lorentzian space. Then, using these equations, the algebraic forms of the constraint manifolds of 4R and 6R planar and spherical closed chains in spacelike and timelike mechanisms are constructed and it is shown which curves these manifolds correspond to.
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