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Design of a six-axis high precision machine tool and its ap..:

Cheng, Hao-Bo ; Feng, Zhi-Jing ; Cheng, Kai.
International Journal of Machine Tools and Manufacture.  45 (2005)  9 - p. 1085-1094 , 2005
Link: https://doi.org/10.1016/j.ijmachtools.2004.11.018