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Spherical and Non-Spherical Combined Two Degree-of-Freedom Rotational Parallel Mechanism for a Microsurgical Robotic System

Jumpei Arata, Yoshiteru Kobayashi, Ryu Nakadate, Shinya Onogi, Kazuo Kiguchi, Makoto Hashizume. Spherical and Non-Spherical Combined Two Degree-of-Freedom Rotational Parallel Mechanism for a Microsurgical Robotic System. JRM, 30(6):846-854, 2018. [doi]

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