Optimization of a redundantly actuated 5R symmetrical parallel mechanism based on structural stiffness. Jin, S., Kim, J., & Seo, T. Robotica, 33(09):1973–1983, November, 2015.
Optimization of a redundantly actuated 5R symmetrical parallel mechanism based on structural stiffness [link]Paper  doi  bibtex   
@article{jin_optimization_2015,
	title = {Optimization of a redundantly actuated 5R symmetrical parallel mechanism based on structural stiffness},
	volume = {33},
	issn = {0263-5747, 1469-8668},
	url = {http://www.journals.cambridge.org/abstract_S0263574714001209},
	doi = {10.1017/S0263574714001209},
	language = {en},
	number = {09},
	urldate = {2017-08-04TZ},
	journal = {Robotica},
	author = {Jin, Sangrok and Kim, Jongwon and Seo, TaeWon},
	month = nov,
	year = {2015},
	pages = {1973--1983}
}

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