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Kinematic analysis and dimensional optimization of a 2R2T p..:

Araujo-Gómez, Pedro ; Díaz-Rodríguez, Miguel ; Mata, Vicente.
Journal of the Brazilian Society of Mechanical Sciences and Engineering.  41 (2019)  10 - p. , 2019
Link: https://doi.org/10.1007/s40430-019-1934-1