This paper examines the problem of finding the assembly configurations, also called circuits, of spatial single-loop single-DOF mechanisms with five or more links. The RRRCC, RRCRC, RRRRCR, and RRRRRRR mechanisms are covered, along with all variations in which a revolute (R) joint is replaced by a prismatic (P) joint. A numerical method is given to find the ACs, and is illustrated with several examples.

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