1Hunt K H. Structural kinematics of in-parallel-actuated robot-arms. Journal of Mechanisms, Transmissions, and Automation in Design, 1983, 105 (4): 705～712.
2Huang Z, Li Q C. General methodology for type Synthesis of lower-mobility symmetrical parallel manipulators and several novel manipulators. International Journal of Robotics Research, 2002, 21 (2): 131～146.
3Li Q C, Huang Z, Hervé J M. Type synthesis of 3R2T -DOF parallel mechanisms using the Lie group of displacements. IEEE Transaction on Robotics and Automation,2004, 20(2): 173～1805..
4Kong X W, Gosselin C M. Type synthesis of 3-DOF spherical parallel manipulators based on screw theory.ASME Journal of Mechanical Design, 2004, 126(1): 83～92.
5Hervé J M. Analyse structurelle des mécanismes par groupes de déplacements. Mechanism and Machine Theory,1978, 13:437～450.
6Angeles J. Spatial kimematic chains, analysis, synthesis,optimization. Springer-Verlag, New York, 1982.
7Murray R, Li Z X, Sastry S. A mathematical introduction to robotic manipulation. CRC Press, 1994.
8Gao F, Li W M, Zhao X C. New kinematic structures for 2-,3-, 4-, and 5-DOF parallel manipulator designs. Mechanism and Machine Theory, 2002, 37:1 395～1 411.
9Gao F, Liu X J. The relationships between the shapes of the workspaces and the link lengths of 3-DOF symmetrical planar parallel manipulators. Mechanism and Machine Theory, 2001, 36(2): 205～220.
10Howell L L. Compliant Mechanisms. McGraw-Hill, New York, 2001.
