@article{JGG_2012_16_2_JGG_2012_16_2_a2,
     author = {G. Nawratil },
     title = {Necessary {Conditions} for {Type} {II} {DM} {Self-motions} of {Planar} {Stewart} {Gough} {Platforms}},
     journal = {Journal for geometry and graphics},
     pages = {139--151},
     publisher = {mathdoc},
     volume = {16},
     number = {2},
     year = {2012},
     url = {http://geodesic.mathdoc.fr/item/JGG_2012_16_2_JGG_2012_16_2_a2/}
}