Ting’s rotatability laws of planar N-bar linkages are extended to spherical linkages. The paper proposed and proved theorems and criteria for spherical Kinematic chains (1) to provide the unique description, (2) to identify the assemblability condition, (3) to predict the revolvability between links, (4) to predict the full rotatatability, and (5) to provide a classification scheme and to identify the related characteristics. The criteria may also be applied to spatial nR3C linkages.

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