1. Schoenflies A. (1886) Geometrie der Bewegung in Synthetischer Darstellung. Leipzig, Germany. (See also the French translation: La Géométrie du Movement, Paris, 1983)
2. Burmester L. (1886) Lehrbuch der Kinematik. Verlag Von Arthur Felix, Leipzig
3. Hartenberg R., Denavit J. (1964) Kinematic Synthesis of Linkages. McGraw-Hill, New York
4. Sandor G.N., Erdman A.G. (1984) Advanced Mechanism Design: Analysis and Synthesis, vol. 2. Prentice-Hall, Englewood Cliffs, NJ
5. Chen P., Roth B. (1967) Design equations for finitely and infinitesimally separated position synthesis of binary link and combined link chains, ASME J. Engineering for Industry 91:209–219