Dear All, Can anybody please help me with the full text of these two articles 1) kinematic analysis of planar eight bar linkage-application to a platform type robot. G.R. pennock and d.i.kassner,asme j. mech design vol.114 pp87-95(1992) (2) platform type planer robots: Topology based selection for rigidity_ _ V.parneti-castelli and c. innocenti. asme j. mech.design vol.114 68-72(1992) I will be very grateful as one of my faculty is in need of these artciles for his research. REgards, Sheetal D Tank, Chief Librarian, Atmiya Institute of Technology and Science Rajkot - Gujarat sheetal_tank@rediffmail.com