Roberto Simoni, Celso Melchiades Doria, Daniel Martins. Symmetry and invariants of kinematic chains and parallel manipulators. Robotica, 31(1):61-70, 2013. [doi]
@article{SimoniDM13,
title = {Symmetry and invariants of kinematic chains and parallel manipulators},
author = {Roberto Simoni and Celso Melchiades Doria and Daniel Martins},
year = {2013},
doi = {10.1017/S0263574712000057},
url = {http://dx.doi.org/10.1017/S0263574712000057},
researchr = {https://researchr.org/publication/SimoniDM13},
cites = {0},
citedby = {0},
journal = {Robotica},
volume = {31},
number = {1},
pages = {61-70},
}