Analyzing kinematics and solving active/constrained forces of a 4-dof 3SPS+SP parallel manipulator.

Yi Lu Bo Hu Analyzing kinematics and solving active/constrained forces of a 4-dof 3SPS+SP parallel manipulator. 29-36 2009 27 Robotica 1 http://dx.doi.org/10.1017/S0263574708004499 db/journals/robotica/robotica27.html#LuH09