1 C. L. Collins, "the duality of twist/wrench distributions in serial and parallel chain robot manipulators" 526-531, 1995
2 C. M. Gosselin, "Singularity analysis of closed-loop kinematic chains" 6 : 281-290, 1990
3 F. C. Park, "Singularity analysis of closed kinematic chains" 121 (121): 32-38, 1999
4 H. B. Choi, "Singularity analysis of a novel 4-DOFs parallel robot H4 by using screw theory" 1-9, 2003
5 J. Wu, "Singularity analysis of a novel 4-DOF parallel manipulator H4" 29 : 794-802, 2006
6 J.P.Merlet, "Singular configurations of parallel manipulators and grassmann geometry" 8 (8): 45-56, 1989
7 J. Merlet, "Parallel Robots" Kluwer Academic Publishers 2000
8 K.Hunt, "Kinematic Geometry of Mechanisms" Clarendon Press 1978
9 V.Kumar, "Instantaneous kinematics of parallelchain robotic mechanisms" 114 : 349-358, 1992
10 F. Pierrot, "H4: a new family of 4- dof parallel robots" 508-513, 1999
1 C. L. Collins, "the duality of twist/wrench distributions in serial and parallel chain robot manipulators" 526-531, 1995
2 C. M. Gosselin, "Singularity analysis of closed-loop kinematic chains" 6 : 281-290, 1990
3 F. C. Park, "Singularity analysis of closed kinematic chains" 121 (121): 32-38, 1999
4 H. B. Choi, "Singularity analysis of a novel 4-DOFs parallel robot H4 by using screw theory" 1-9, 2003
5 J. Wu, "Singularity analysis of a novel 4-DOF parallel manipulator H4" 29 : 794-802, 2006
6 J.P.Merlet, "Singular configurations of parallel manipulators and grassmann geometry" 8 (8): 45-56, 1989
7 J. Merlet, "Parallel Robots" Kluwer Academic Publishers 2000
8 K.Hunt, "Kinematic Geometry of Mechanisms" Clarendon Press 1978
9 V.Kumar, "Instantaneous kinematics of parallelchain robotic mechanisms" 114 : 349-358, 1992
10 F. Pierrot, "H4: a new family of 4- dof parallel robots" 508-513, 1999
11 F. Pierrot, "H4 parallel robot: modeling and preliminary experiment" 3256-3261, 2001
12 H. B. Choi, "Design and controlof a novel 4-DOFs parallel robot H4" 1185-1190, 2003
13 O. Ma, "Architecture singularities of platform manipulators" 1542-1547, 1991
14 F. Pierrot, "A new design of a 6-DOF parallel robot" 2 (2): 308-315, 1990