2Merlet J P. Parallel Robots. London: Kluwer Academic Publishers, 2000
3Gough V E. Contribution to discussion of papers on research in automobile stability control and the tyre performance. Proc. Auto Div. Inst. Mech. Eng., 1956:392～395
4Gough V E, Whitehall S G. Universal tyre test machine. In:Proc. 9th International Technical Congress, FISITA, 1962:117～135
5Stewart D. A platform with six degrees of freedom. Proc. Inst. Mech. Eng., 1965, 180:371-386
6Hunt K H. Kinematic geometry of mechanisms. Oxford:Clearendon Press, 1978
7Hunt K H. Structural kinematic of in-parallel-actuated robot-arms. ASME Journal of Mechanisms. Transmissions and Automation in Design, 1983, 105:705～712
8Behi F. Kinematic Analysis for a six-degree-of-freedom 3-PRPS parallel manipulator. IEEE J. of Robotics and Automation, 1988, 4(5):561～565
9Hervé J M. Group mathematics and parallel link mechanisms. In:9th World Congress on the Theory of Machines and Mechanisms, Milan, 1995:2 079～2 082
