5Xu L J,Fan S W,Chen Y.Numeric-symbolic approach for kinematics and dynamics of robotic manipulators[J].Mechanism and Machine Theory,1995,30(5):645～652.
6Xu L J,Fan S W,Li H.Analytical model method for dynamics of N-celled tetrahedron- tetrahedron variable geometry truss manipulators[J].Mechanism and Machine Theory,2001,36(11):1271～1279.
7Vukobratovic M,Kircanski N.Real-time dynamics of manipulation robots[M].New York:Spinger-Verlag,1984.
8Vukobratovic M,Kircanski N.Computer aided procedure of forming of robot motion equations of the Sixth World Congress on the Theory of Machines and Mechanisms[C].New Delhi,India,1984.965～969.
