Sébastien Briot, Vigen Arakelian. Design of Reactionless Linkages and Robots Equipped with Balancing Assur Groups. Dynamic Balancing of Mechanisms and Synthesizing of Parallel Robots, Springer International Publishing, pp.33-68, 2016, ⟨10.1007/978-3-319-17683-3_3⟩. ⟨hal-02883019⟩