1[1]Franke, R.. Vom Aufoau der Getriebe[M]. Vol 1, 3rd Edition,VDl Verlag,1958.
2[2]Freudenstein, F. and L. Dobrjanskyj. On a Theory for the Type Synthesis of Mechanisms [C]. Proceedings of the Eleventh International Conference of Applied Mechanics, pp. 420-428, 1964.
3[3]A.G Erdman, T.R. Thompson and D.R. Riley. Type Selection of Robot and Gripper Kinematic Topology Using Expert Systems [J]. International Journal of Robotics Research, Summer 1986.