“…The inversion o1 of an (8,10)-o kinematic chain is fixed to link A, with which joints a, b, e, and h are incident, meaning that they are not exchangeable with other joints and the permutations remain p 1 to p 6 . The mechanism's joint set (J) can be partitioned into four subsets, J 1 (a), J 2 (beh), J 3 (cfi), and J 4 (dgj).…”