T. Bruckmann and A. Pott, “Cable-Driven Parallel Robots”, Springer, 2013.
R. Clavel, “Device for the Movement and Positioning of an Element in Space”, US patent No.4,976,582, 1989.
P. Miermeister and A. Pott, “Design of Cable-Driven Parallel Robots with Multiple Platforms and Endless Rotating Axes”, Interdisciplinary Applications of Kinematics, Springer, 2014, pp. 21-29.
Danial Allzadoh, et. al., “On the Home Posture of the McGill Sch?nflies Motion Generator”, TR-CIM-09-01, 2009.
T. Makino and T. Harada, “Cable collision avoidance of a pulley embedded cable-driven parallel robot by kinematic redundancy”, Proceedings of the 4th International Conference on Control, Mechatronics and Automation, 2016, CMA029.