Denny Oetomo David Daney Bijan Shirinzadeh Jean-Pierre Merlet Certified workspace analysis of 3RRR planar parallel flexure mechanism. 3838-3843 2008 ICRA http://dx.doi.org/10.1109/ROBOT.2008.4543800 conf/icra/2008 db/conf/icra/icra2008.html#OetomoDSM08