Ramirez-Matheus, A., M. Díaz-Rodríguez, and O. A. González-Estrada. “An Approach for Optimal Dimensional Synthesis of a 5R Parallel Robot for a CNC X-Y Cutter”. Revista UIS Ingenierías, vol. 16, no. 2, May 2017, pp. 197-06, doi:10.18273/revuin.v16n2-2017018.