On the flexibility and symmetry of overconstrained mechanisms

In kinematics, a framework is called overconstrained if its continuous flexibility is caused by particular dimensions; in the generic case, a framework of this type is rigid. Famous examples of overconstrained structures are the Bricard octahedra, the Bennett isogram, the Grünbaum framework, Bottema's 16-bar mechanism, Chasles' body-bar framework, Burmester's focal mechanism or flexible quad meshes. The aim of this paper is to present some examples in detail and to focus on their symmetry properties. It turns out that only for a few is a global symmetry a necessary condition for flexibility. Sometimes, there is a hidden symmetry, and in some cases, for example, at the flexible type-3 octahedra or at discrete Voss surfaces, there is only a local symmetry. However, there remain overconstrained frameworks where the underlying algebraic conditions for flexibility have no relation to symmetry at all.