Kinematic Synthesis of Spatial R-R Dyads for Path Following With Applications to Coupled Serial Chain Mechanisms,

V. Kumar, V. Krovi, and G. K. Ananthasuresh, “Kinematic Synthesis of Spatial R-R Dyads for Path Following With Applications to Coupled Serial Chain Mechanisms,” ASME Journal of Mechanical Design, vol. 123, iss. 3, pp. 359-366, 2001.