Erdman, A.Sandor, G., and Kota, S., 2001, *Mechanism Design: Analysis and Synthesis*, Vol. 1, No. 4/e, Prentice–Hall, Englewood Cliffs, NJ.

Kovacs, P., and Mommel, G., 1993, “On the Tangent-Half-Angle Substitution,” *Computational Kinematics*, J.Angeles, ed., Kluwer Academic Publishers, Norwell, MA, pp. 27–40.

PortaJ., Ros, L., Creemers, T., and Thomas, F., 2007, “Box Approximations of Planar Linkage Configuration Spaces,” ASME J. Mech. Des., 129(4), pp. 393–405.

[CrossRef]Wampler, C. W., 1999, “Solving the Kinematics of Planar Mechanisms,” ASME J. Mech. Des., 121(3), pp. 387–391.

[CrossRef]Wampler, C. W., 2001, “Solving the Kinematics of Planar Mechanisms by Dixon Determinant and a Complex-Plane Formulation,” ASME J. Mech. Des., 123(3), pp. 382–387.

[CrossRef]Wampler, C. W., 1996, “Isotropic Coordinates, Circularity, and Bezout Numbers: Planar Kinematics From a New Perspective,” Proceedings of the ASME Design Technical Conference, Paper No. 96-DETC/MECH-1210.

Nielsen, J., and Roth, B., 1999, “Solving the Input/Output Problem for Planar Mechanisms,” ASME J. Mech. Des., 121(2), pp. 206–211.

[CrossRef]Wampler, C. W., and Sommese, A. J., 2011, “Numerical Algebraic Geometry and Algebraic Kinematics,” Acta Numer., pp. 469–567.

[CrossRef]Chase, T., and Mirth, J., 1993, “Circuits and Branches of Single-Degree-of-Freedom Planar Linkages,” ASME J. Mech. Des., 115(2), pp. 223–230.

[CrossRef]Foster, D., and Cipra, R., 1998, “Assembly Configurations and Branches of Planar Single-Input Dyadic Mechanisms,” ASME J. Mech. Des., 120(3), pp. 381–386.

[CrossRef]Foster, D., and Cipra, R., 2002, “An Automatic Method for Finding the Assembly Configurations of Planar Non-Single-Input Dyadic Mechanisms,” ASME J. Mech. Des., 124(3), pp. 58–67.

[CrossRef]Mirth, J., and Chase, T., 1993, “Circuit Analysis of Watt Chain Six-Bar Mechanisms,” ASME J. Mech. Des., 115(2), pp. 214–222.

[CrossRef]Davis, H., and Chase, T., 1994, “Circuit Analysis of Stephenson Chain Six-Bar Mechanisms,” Proceedings of the ASME Design Technical Conferences, DE-Vol. 70, pp. 349–358.

Wantanabe, K., and Katoh, H., 2004, “Identification of Motion Domains of Planar Six-Link Mechanisms of the Stephenson-Type,” Mech. Mach. Theory, 39, pp. 1081–1099.

[CrossRef]Ting, K. L., and Dou, X., 1996, “Classification and Branch Identification of Stephenson Six-Bar Chains,” Mech. Mach. Theory, 31(3), pp. 283–295.

[CrossRef]Litvin, F., and Tan, J., 1989, “Singularities in Motion and Displacement Functions of Constrained Mechanical Systems,” Int. J. Robot. Res., 8(2), pp. 30–43.

[CrossRef]Gosselin, C., and Angeles, J., 1990, “Singularity Analysis of Closed-Loop Kinematic Chains,” IEEE Trans. Rob. Autom., 6(3), pp. 281–290.

[CrossRef]Murray, A., Turner, M., and Martin, D., 2008, “Synthesizing Single DOF Linkages via Transition Linkage Identification,” ASME J. Mech. Des., 130(2), p. 022301.

[CrossRef]Innocenti, C., and Parenti-Castelli, V., 1998, “Singularity-Free Evolution From One Configuration to Another in Serial and Fully Parallel Manipulators,” ASME J. Mech. Des., 120(1), pp. 73–99.

[CrossRef]McAree, P. R., and Daniel, R. W., 1999, “An Explanation of Never-Special Assembly Changing Motions for 3-3 Parallel Manipulators,” Int. J. Robot. Res., 18(6), pp. 556–574.

[CrossRef]Wenger, P., and Chablat, D., 1998, “Workspace and Assembly-Modes in Fully Parallel Manipulators: A Descriptive Study,” *Advances in Robot Kinematics*, Kluwer Academic Publishers, Norwell, MA, pp. 117–126.

Wenger, P., Chablat, D., and Zein, M., 2007, “Degeneracy Study of the Forward Kinematics of Planar 3-RPR Parallel Manipulators,” ASME J. Mech. Des., 129(12), pp. 1265–1268.

[CrossRef]Zein, M., Wenger, P., and Chablat, D., 2006, “Singular Curves and Cusp Points in the Joint Space of 3-RPR Parallel Manipulators,” Proceedings of IEEE International Conference on Robotics and Automation.

Zein, M., Wenger, P., and Chablat, D., 2008, “Non-Singular Assembly Mode Changing Motions for 3-RPR Parallel Manipulators,” Adv. Rob. Kinematics, 43(4), pp. 480–490.

Macho, E., Altuzarra, O., Pinto, C., and Hernandez, A., 2008, “Transitions Between Multiple Solutions of the Direct Kinematic Problem,” *Advances in Robot Kinematics*, Springer, The Netherlands, Part 5, pp. 301–310.

MerletJ.-P., 2007, “A Formal-Numerical Approach for Robust In-Workspace Singularity Detection,” IEEE Trans. Rob., 23(3), pp. 393–402.

[CrossRef]BohigasO., Manubens, M., and Ros, L., 2013, “Singularities of Non-Redundant Manipulators: A Short Account and a Method for Their Computation in the Planar Case,” Mech. Mach. Theory, 68(1), pp. 1–17.

[CrossRef]Lu, Y., Bates, D. J., Sommese, A. J., and Wampler, C. W., 2007, “Finding all Real Points of a Complex Curve,” Proceedings of Midwest Algebra, Geometry and Its Interactions Conference, Contemporary Mathematics, AMS, Vol. 448, pp. 183–205.

Besana, G. M., Di Rocco, S., Hauenstein, J. D., Sommese, A. J., and Wampler, C. W., 2013, “Cell Decomposition of Almost Smooth Real Algebraic Surfaces, Numerical Algorithms” (in press).

Bates, D. J., Hauenstein, J. D., Sommese, A. J., and Wampler, C. W., Bertini, “Software for Numerical Algebraic Geometry,” Available at

http://www.nd.edu/∼sommese/bertiniZhou, H., and CheungE. H. M., 2004, “Adjustable Four-Bar Linkages for Multi-Phase Motion Generation,” Mech. Mach. Theory, 39(3), pp. 261–279.

[CrossRef]Naik, D. P., and Amarnath, C., 1989, “Synthesis of Adjustable Four Bar Function Generators through Five Bar Loop Closure Equations,” Mech. Mach. Theory, 24(6), pp. 523–526.

[CrossRef]Lin, L., MyszkaD., Murray, A., and Wampler, C., 2013, “Using the Singularity Trace to Understand Linkage Motion Characteristics,” Proceedings of the ASME International Design Engineering Technical Conferences, Paper No. DETC2013-13244.

Sommese, A. J., and Wampler, C. W., 2005, *Numerical Solution of Systems of Polynomials Arising In Engineering and Science*, World Scientific Press, Singapore.

Allgower, E. L., and Georg, K., 1997, “Numerical Path Following,” *Handbook of Numerical Analysis*, Vol. V, North-Holland, Amsterdam.

PennockG., and Kassner, D., 1992, “Kinematic Analysis of a Planar Eight-Bar Linkage: Application to a Platform-Type Robot,” ASME J. Mech. Des., 114(1), pp. 87–95.

[CrossRef]