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Optimal solution method for the cable catenary between cable-driven parallel robots
WEI Huiling, QIU Yuanying, SHENG Ying, CHEN Haichu, LU Qinghua
Journal of Tsinghua University(Science and Technology) . 2021, (3): 224 -229 .  DOI: 10.16511/j.cnki.qhdxxb.2020.26.019

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