[5] [5] WALDRON K J.A study of over constrained linkage geometry by solution of closure equations-part I.Method of study［J］.Mechanism and Machine Theory, 1973, 8(2):95-104.

[6] [6] FANG Y, TSAI L W.Enumeration of a class of over constrained mechanisms using the theory of reciprocal screws［J］.Mechanism and Machine Theory, 2004, 39(11):1175-1187.

[8] [8] HOPKINS J B, CULPEPPER M L.Synthesis of multi-degree of freedom, parallel flexure system concepts via freedom and constraint topology(FACT)-part Ⅱ:practice［J］.Precision Engineering, 2010, 34(2):271-278.

[9] [9] KOSEKI Y, TANIKAWA T, KOYACHI N, et al.Kinematic analysis of translational 3-DOF micro-parallel mechanism using matrix method［C］∥Proceedings of the 2000 IEEE/RSJ International Conference on Intelligent Robots and System, Takamatsu:IEEE, 2000:786-792.

[10] [10] ZHAO J S, FENG Z J, ZHOU K, et al.Analysis of the singularity of spatial parallel manipulator with terminal constraints［J］.Mechanism and Machine Theory, 2005, 40(3):275-284..