1. Bajpai A., Roth B. : Workspace and mobility of a closed-loop manipulator, The International Journal of Robotics Research, Vol. 5, No. 2, 1986.
2. Chablat D., Wenger Ph. : Domaines d’unicité des manipulateurs parallèles : Cas général, IRCyN Internal Report, No. 97.7, école Centrale de Nantes, Nantes, 1997.
3. Chablat D., Wenger Ph., Angeles J. : The isoconditioning Loci of A Class of Closed-Chain Manipulators, Proc. IEEE International Conference of Robotic and Automation, pp. 1970–1976, Mai 1998.
4. Gosselin C, Angeles J. : Singularity analysis of closed-loop kinematic chains, Proc. IEEE Transactions On Robotics And Automation, Vol. 6, No. 3, June 1990.
5. Gosselin C. : Stiffness Mapping for Parallel Manipulators, Proc. IEEE Transactions On Robotics And Automation, Vol. 6, No. 3, June 1990.