Singularity Loci of a Special Class of Spherical Three-degree-of-freedom Parallel Mechanisms with Revolute Actuators

Clément Gosselin, Jing Wang. Singularity Loci of a Special Class of Spherical Three-degree-of-freedom Parallel Mechanisms with Revolute Actuators. I. J. Robotic Res., 21(7):649-660, 2002.

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