Geodesic
Geometric theory of hinged devices
Izvestiya. Mathematics , Tome 44 (1995) no. 1, pp. 43-68

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This article contains results connected with engineering mechanics. Among them are: a theorem “on the nonuniqueness of a statically determinable truss”, a classification of hinged mechanisms and their schemes, and an example of a hinged mechanism with variable number of degrees of freedom. The study of general geometric properties is based on the concept, introduced here, of an abstract hinged device in $\mathbf R^d$. This concept formalizes a well-known approach in the theory of mechanisms. The formalization gives rise to a number of interesting mathematical questions. 
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     title = {Geometric theory of hinged devices},
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M. D. Kovalev. Geometric theory of hinged devices. Izvestiya. Mathematics , Tome 44 (1995) no. 1, pp. 43-68. http://geodesic.mathdoc.fr/item/IM2_1995_44_1_a2/