A Geometric Theory for Synthesis and Analysis of Sub-6 DoF Parallel Manipulators.

Jian Meng Guanfeng Liu Zexiang Li A Geometric Theory for Synthesis and Analysis of Sub-6 DoF Parallel Manipulators. 2938-2943 2005 conf/icra/2005 ICRA db/conf/icra/icra2005.html#MengLL05