This paper builds on Innocenti’s polynomial solution for the $5-SS$ platform that generates a one-degree of freedom movement through seven specified spatial positions of a rigid body. We show that his 60×60 resultant can be reduced to one that is 10×10. We then actuate the linkage using a prismatic joint on the sixth leg and determine the trajectory of the reference point through the specified positions. The singularity submanifold of this associated $6-SS$ platform provides information about the movement characteristics of the $5-SS$ linkage.

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