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Self-Motion in Spatial Parallel Mechanisms with More Than Three Legs

John O Brien, Farhad Jafari, John T. Wen. Self-Motion in Spatial Parallel Mechanisms with More Than Three Legs. In Proceedings of the 2005 IEEE International Conference on Robotics and Automation, ICRA 2005, April 18-22, 2005, Barcelona, Spain. pages 980-986, IEEE, 2005.

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