A Study of Velocity Kinematics for Hybrid Manipulators with Parallel-Series Configurations. - Ming Z. Huang; Shou-Hung Ling; Yang Sheng (ICRA (1), 1993)

Kinematics of a Class of Hybrid Robotic Mechanisms with Parallel and Series Modules. - Ming Z. Huang; Shou-Hung Ling (ICRA, 1994)