2Dibakar S,Mruthyunjaya T S.A centro-based charaterization of singularities in the workspace of planar closed-loop manipulators with arbitrary topology[J],Mechanism and Machine Theory, 1999,( 1 ): 149-169.
3Jaouads,GosselinC.On the quadratic nature of the singularity curves of planar theree-degree-fredom parallel manipulator [J].Mechanism and Machine Theory, 1995,30(4):553-551.
2Gosselin C, Angeles J. The optimum kinematics design of a planar three-degree-freedom parallel manipulator [J].ASME Journal of Mechanisms, Transmissions and Automation in Design ,1989,11(10) :35~41.
3Jaouad S,Gosselin C. On the quadratic nature of the singularity curves of planar three-degree-freedom parallel manipulator[J]. Mechanism and Machine Theory, 1995,30(4) :533~551.
3Gallardo Alvarado J,Rodriguez Castro R,Aguilar Najera C R. A novel six-degrees-of-freedom series-parallel manipulator[J].Mechanical Science and Technology,2012,(06):1901-1909.
4Vakil M,Pendar H,Zohoor H. On the kinematic analysis of a spatial six-degree-of-freedom parallel manipulator[J].Scientia Iranica,2009,(01):1-14.
5Zhang Yanwei,Cui Guohua,Sun Zhenjun. Mechanism design,position analysis and simulation of a new six degree-of-freedom serial-parallel manipulator[A].2009.1005-1009.
6Agaoglu Ahmet,Ciblak Namik,Safak Koray K. Workspace optimization of a six degrees of freedom parallel manipulator for micromachining[A].2010.693-701.