# Design, analysis and optimization of Hex4, a new 2R1T overconstrained parallel manipulator with actuation redundancy

> Research article (Robotica, 2018) · cited 13× · AI/ML

**Wikidata**: [openalex:W2897445641](https://www.wikidata.org/wiki/openalex:W2897445641)  
**Source**: https://4ort.xyz/entity/design-analysis-and-optimization-of-hex4-a-new-2r1t-overconstrained-parallel-manipulator-with-actuation-redundancy