Analysis of a Novel 6-DOF, 3-PPSP Parallel Manipulator. - Yong Kyu Byun; Hyung Suck Cho (Int. J. Robotics Res., 1997)

Closed Form Solution of Forward Position Analysis for a 6 DOF 3-PPSP Parallel Mechanism of General Geometry. - Whee Kuk Kim; Yong Kyu Byun; Hyung Suck Cho (ICRA, 1998)

Kinematic/dynamic analysis of a 6 DOF parallel manipulator with 3-PPSP serial subchains and its implementation. - Yong Kyu Byun; Hyung Suck Cho; Whee Kuk Kim; Sang-Eun Baek; Heung-Sung Chang; Kwang-Choon Ro (IROS, 1998)

Closed-Form Forward-Position Solution for a 6-Dof 3-PPSP Parallel Mechanism and Its Implementation. - Whee Kuk Kim; Yong Kyu Byun; Hyung Suck Cho (Int. J. Robotics Res., 2001)