2UPS-2RPS机构正运动学分析的序单开链法
冯志友, 张策, 杨廷力,
Forward Kinematics Analysis of 2UPS-2RPS Parallel Mechanism Based on Single-opened-chain 
Feng Zhiyou, Zhang Ce, Yang Tingli
中国机械工程 . 2008, (24): 2986 -2990 .