The spinor linkage -- a mechanical implementation of the plate trick

The plate trick or belt trick is a striking physical demonstration of properties of the double cover of the three-dimensional rotation group by the sphere of unit quaternions or spinors. The two ends of a flexible object are continuously rotated with respect to each other. Surprisingly, the object can be manipulated so as to avoid accumulating twists. We present a new mechanical linkage that implements this task. It consists of a sequence of rigid bodies connected by hinge joints, together with a purely mechanical control mechanism. It has one degree of freedom, and the motion is generated by simply turning a handle.