1: Code of linearizing the constraints of spatial closed loop structure

Tested in Mathematica 12

2: Code of calculating stiffness

The code of calculating stiffness is writtern by Kai Xiao, tested in MATLAB 2020a. Before runnning the main code, decompress the case file (e.g. state#1a.1) from example. zip file to the same path of MATLAB code

3: Code of numerically calculating DOF of defect structures.

• The method is from Laliberte, T. & Gosselin, C. Construction, mobility analysis and synthesis of polyhedra with articulated faces. J. Mechanisms Robotics 6, 011007 (2013).