Angeles, Jorge <br/><br/>
Spatial kinematic chains  analysis-synthesis-optimization 
Jorge Angeles 
 - Berlin  Springer-Verlag  1982 
 - 369p. ill. 25cm 
<br/><br/> With 67 figures 
<br/><br/>Includes bibliographical references and index 
<br/><br/><label>ISBN: </label>0387113983 
<br/><br/><label>Subjects--Topical Terms: </label><br/>Machinery, Kinematics of<br/>Links and link--motion