1. Kinematic Geometry of Mechanisms;Hunt,1978
2. Exact Constraint: Machine Design Using Kinematic Principles;Blanding,1999
3. Freedom in Machinery, Volume 1 and 2;Phillips,2007
4. An extension of screw theory;Ohwovoriole;J. Mech. Des.,1981
5. Mechanics of Form-Closure;Lakshminarayana,1978