Modeling and Control Simulation Research of Macro-micro 3-RPR Parallel Mechanism
Xu Youxiong, Zhou Hao, Zhu Songqing, Gu Renjie
Journal of System Simulation . 2016, (11): 2670 -2676 .  DOI: 10.16182/j.issn1004731x.joss.201611004

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