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

Jian Meng Guanfeng Liu Zexiang Li A Geometric Theory for Analysis and Synthesis of Sub-6 DoF Parallel Manipulators. 625-649 2007 23 IEEE Transactions on Robotics 4 http://dx.doi.org/10.1109/TRO.2007.898995 db/journals/trob/trob23.html#MengLL07