Alain Tremblay Luc Baron Geometrical Synthesis of Star-Like Parallel Manipulators Topology with a Genetic Algorithm. 2446-2451 1999 conf/icra/1999 ICRA db/conf/icra/icra1999-3.html#TremblayB99 http://dx.doi.org/10.1109/ROBOT.1999.770472