5Wu W T.Solving inverse kinematic equations of PUMA-type robots[J].Mathematic-Mechanization Research Preprint,1989,(4):49 ～ 53
6Han L,Liao Q Z.Wu method for forward displacement analysis of the plner parallel manipulator[J].MMT Research Preprints,1998,16:153 ～ 157
7Carlo I.Position analysis in analytical form of the 7-link Assur kinematic chain featuring one ternary link connected to ternary links only[J].Mechanism and Machine Theory,1997,32(4):501 ～509
8Han L,Liao Q Z,Liang C G.Closed-form displacement analysis for a nine-link Barravo truss or an eight-link Assur group[J].Mech.Mach.Theory,2000,(35):379～390
9Wei S M,Zhou X G,Liao Q Z.Closed-form displacement analysis of one kind of nine-link Barravo trusses[A].Proceedings of the 2004 11 th World Congress in Mechanism and Machine Science[C],2004:1176 ～ 1177
