Kinematic and Kinetostatic Synthesis of Planar Coupled Multi-Link Serial Chain Mechanisms,

V. Kumar, G. K. Ananthasuresh, and V. Krovi, “Kinematic and Kinetostatic Synthesis of Planar Coupled Multi-Link Serial Chain Mechanisms,” ASME Journal of Mechanical Design, vol. 24, iss. 2, pp. 143-155, 2002.