1. and , Parallel manipulators in robotics, Proceedings of IMACS/SICE International Symposium on Robotics, Mechatronics, and Manufacturing Systems, Kobe, 1992, pp. 409-418.
2. Kinematic analysis and singularity representation of spatial five-degree-of-freedom parallel mechanisms
3. , , , and , Structural synthesis of a class of five-DOF parallel robot mechanisms based on single-opened-chain units, Proceedings of the ASME 2001 Design Engineering Technical Conferences and Computers in Engineering Conference, Pittsburgh, PA, 2001, DETC2001/DAC-21153.
4. General Methodology for Type Synthesis of Symmetrical Lower-Mobility Parallel Manipulators and Several Novel Manipulators