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We characterise the kinematic image of the constraint variety of a 2R dyad asa regular ruled quadric in a 3-space that contains a "null quadrilateral".Three prescribed poses determine, in general, two such quadrics. This allows usto modify a recent algorithm for the synthesis of 6R linkages in such a waythat two consecutive revolute axes coincide, thus producing a 5R linkage. Usingthe classical geometry of twisted cubics on a quadric, we explain some of thepeculiar properties of the the resulting synthesis procedure for 5R linkages.

The Kinematic Image of 2R Dyads and Exact Synthesis of 5R Linkages