Geared Robot Manipulators with a Jointed Unit: Topological Synthesis and Its Application. - Dar-Zen Chen; Yu-Chu Huang; Dong-Wen Duh (Int. J. Robotics Res., 2000)

Geared robot manipulators with a jointed unit: Kinematic analysis and its application. - Dar-Zen Chen; Yu-Chu Huang (J. Field Robotics, 2001)