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Optimal kinematic design of 2-DOF parallel manipulators with well-shaped workspace bounded by a specified conditioning index

Tian Huang, Meng Li, Zhanxian Li, Derek G. Chetwynd, David J. Whitehouse. Optimal kinematic design of 2-DOF parallel manipulators with well-shaped workspace bounded by a specified conditioning index. IEEE Transactions on Robotics, 20(3):538-543, 2004. [doi]

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