Patricia Ben-Horin, Moshe Shoham. Singularity of a class of Gough-Stewart platforms with three concurrent joints. In Jadran Lenarcic, Bernard Roth, editors, Advances in Robot Kinematics, Mechanisms and Motion, ARK 2006, Ljubljana, Slovenia, June 2006. pages 265-274, Springer, 2006. [doi]
Abstract is missing.