In this article, an analytical method is developed for finding change-point positions of RSSR and other bimodal linkages. At a change-point position, the input or output discriminant function and its derivative with respect to the input angle are equal to zero. The method is demonstrated in studying the effect of the skew distance between the joint axes to the existence of change-positions and offering the first successful systematic search of general RSSR change-point linkages. Like planar four-bar linkages, the issue of change-point linkages is pivotal to the understanding of the mobility and assemblability of the RSSR linkage and other bimodal linkages.

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