Kinematics and singularity analysis of a planar cable-driven parallel manipulator. - Guilin Yang; Song Huat Yeo; Cong Bang Pham (IROS, 2004)

Workspace analysis and optimal design of cable-driven planar parallel manipulators. - Cong Bang Pham; Song Huat Yeo; Guilin Yang (RAM, 2004)

Tension analysis of cable-driven parallel mechanisms. - Cong Bang Pham; Song Huat Yeo; Guilin Yang (IROS, 2005)

Workspace Performance Optimization of Fully Restrained Cable-Driven Parallel Manipulators. - Guilin Yang; Cong Bang Pham; Song Huat Yeo (IROS, 2006)

Workspace analysis of fully restrained cable-driven manipulators. - Cong Bang Pham; Song Huat Yeo; Guilin Yang; I-Ming Chen (Robotics Auton. Syst., 2009)