@article{CTT100608081,
  author = {Yukio Takeda and Xiao Xiao and Kazuya Hirose and Yoshiki Yoshida and Ken Ichiryu},
  title = {Kinematic analysis and design of 3-RPSR parallel mechanism with triple revolute joints on the base},
  journal = {International Journal of Automation Technology},
  year = 2010,
}

@inproceedings{CTT100628733,
  author = {YUKIO TAKEDA and Xiao XIAO and MASARU HIGUCHI and Satoshi Inada and K. Hirose and Y. Yoshida and Y. Ishikura},
  title = {Development of a pipe bender using a parallel mechanism with 3-RPSR structure with six degrees of freedom,},
  booktitle = {Proceedings of 13th World congress in Mechanism and Machine Science},
  year = 2011,
}

@inproceedings{CTT100622424,
  author = {Yukio Takeda and Satoshi Inada and Masaru Higuchi and Xiao Xiao and Kazuya Hirose and Yoshiki Yoshida and Yu Ishikura},
  title = {Three-dimensional pipe bender using a 3-RPSR parallel mechanism with six degrees of freedom},
  booktitle = {Proceedings of the 4th International Conference on Manufacturing, Machine Design and Tribology},
  year = 2011,
}

@inproceedings{CTT100608076,
  author = {武田行生 and 肖 逍 and 広瀬和也 and 好田祥基 and 一柳 健},
  title = {静止節上に三重回転対偶を有する3-RPSR形6自由度空間パラレルメカニズム},
  booktitle = {日本機械学会・ロボティクスメカトロニクス講演会2010講演論文集},
  year = 2010,
}