Forward kinematics, performance analysis, and multi-objective optimization of a bio-inspired parallel manipulator. Zhang, D. & Gao, Z. Robotics and Computer-Intregrated Manufacturing, 28(4):484--492, August, 2012.
bibtex   
@ARTICLE{Zhang12c,
  author = {Dan Zhang and Zhen Gao},
  title = {{Forward kinematics, performance analysis, and multi-objective optimization of a bio-inspired parallel manipulator}},
  journal = {Robotics and Computer-Intregrated Manufacturing},
  volume = {28},
  number = {4},
  pages = {484--492},
  month = {August},
  year = {2012}
}

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