In this article, we will construct an overconstrained closed-loop linkage consisting of four revolute and one cylindrical joint. It is obtained by factorization of a prescribed vertical Darboux motion. We will investigate the kinematic behaviour of the obtained mechanism, which turns out to have multiple operation modes. Under certain conditions on the design parameters, two of the operation modes will correspond to vertical Darboux motions. It turns out, that for these design parameters, there also exists a second assembly mode.

翻译：本文构建了一种包含四个旋转关节和一个圆柱关节的过约束闭环连杆机构。该机构通过对指定的垂直达布运动进行分解而获得。我们将研究所得机构的运动学特性，发现其具有多种操作模式。在设计参数满足特定条件时，其中两种操作模式将对应于垂直达布运动。结果表明，对于这些设计参数，还存在第二种装配模式。