Here is the background info: http://img.photobucket.com/albums/v459/mizliller/Screenshot2012-02-11at114728AM.png
1. I need to show how each instance is indeed a schoenflies-motion generator.
2. Show that each instance is isostatic. In other words, show that, if the statics equations are written for each individual rigid link, then the number of components of unknown reaction forces and moments equals the number of statics equations. this property is quite important, as it allows for assemblability, which an overconstrained chain does not.
3. Each instance is driven by two actuated cylindrical joints, which are not readily available off-the-shelf. Propose as many variants as possible of an actuated cylindrical joint, with its two motors mounted on the same base.