Chen, Dar-ZenDar-ZenChenLiu, Chia-PinChia-PinLiu2009-05-152018-06-282009-05-152018-06-281997-01http://ntur.lib.ntu.edu.tw//handle/246246/155963en-USA Design Methodology for Articulated Gear Mechanisms with Hierarchical Decompositionjournal article