Coxeter decompositions of hyperbolic polygons the sum of the angles of a hyperbolic triangle is less than 180 degrees. Coxeter decompositions are named after Harold Scott MacDonald Coxeter, an accomplished 20th century geometer. He introduced the Coxeter group, an abstract group generated by reflections. These groups have many uses, including producing the rotations of Platonic solids and tessellating the plane. Given a polygon "P", a group "G" can be generated by reflecting "P" around its sides. If the angles of "P" are /"k" for natural numbers "k", then "G" will be discrete. A Coxeter decomposition of a polygon is a decomposition into a finite number
Degrees of freedom (mechanics) prismatic joints, so the system has six degrees of freedom. An example of a simple closed chain is the RSSR spatial four-bar linkage. The sum of the freedom of these joints is eight, so the mobility of the linkage is two, where one of the degrees of freedom is the rotation of the coupler around the line joining the two S joints. It is common practice to design the linkage system so that the movement of all of the bodies are constrained to lie on parallel planes, to form what is known as a "planar linkage". It is also possible