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Amoozandeh, A. (author), Radaelli, G. (author), Herder, J.L. (author)A method to achieve symmetric kinetostatic behaviour in an extensive working range at the endpoint of an asymmetric spatial beam, using cross-section optimization, is presented. The objective function of the optimization is defined as expanding the beam working range to the desired region, simultaneously maximizing symmetric behaviour in it....book chapter 2021