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Optimal design of a class of generalized symmetric Gough-Stewart parallel manipulators with dynamic isotropy and singularity-free workspace

Zhizhong Tong, Jingfeng He, Hongzhou Jiang, Guangren Duan. Optimal design of a class of generalized symmetric Gough-Stewart parallel manipulators with dynamic isotropy and singularity-free workspace. Robotica, 30(2):305-314, 2012. [doi]

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