A generalisation of Altmann's linkage

The overconstrained six-bar kinematic chain bearing Altmann's name has been extensively explored, but it has resisted complete understanding because of an apparent contradiction in its relationship with Bricard's trihedral linkage. This difficulty can now be easily surmounted, and the study of the broad characteristics of Altmann's loop can be expanded to treat a less restricted six-bar. The article deals with these matters in a manner intended to assist the reader in appreciating the value of the analytical procedures adopted. As well, a special case of Altmann's linkage is examined to reveal a rare kind of symmetry.