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We use the recently introduced factorization of motion polynomials forconstructing overconstrained spatial linkages with a straight line trajectory.Unlike previous examples, the end-effector motion is not translational and thelink graph is a cycle. In particular, we obtain a number of linkages with fourrevolute and two prismatic joints and a remarkable linkage with seven revolutejoints one of whose joints performs a Darboux motion.

Spatial Straight Line Linkages by Factorization of Motion Polynomials