Chen, Dar-ZenDar-ZenChenWang, Shinn-ChangShinn-ChangWang2009-05-152018-06-282009-05-152018-06-281998-01http://ntur.lib.ntu.edu.tw//handle/246246/156132https://www.scopus.com/inward/record.uri?eid=2-s2.0-0032785817&doi=10.1016%2fs0094-114x%2898%2900018-4&partnerID=40&md5=92bce0a36a0cc99f7096c0cfadd6ca5fen-USDynamic Modeling of Geared Robotic Mechanisms - The Virtual Link Approachjournal article10.1016/s0094-114x(98)00018-42-s2.0-0032785817