Federico Thomas. Kinematics of a Gear-Based Spherical Mechanism. In Oscar Altuzarra, Andrés Kecskeméthy, editors, Advances in Robot Kinematics 2022, ARK 2022, Bilbao, Spain, June 26-30, 2022. Volume 24 of Springer Proceedings in Advanced Robotics, pages 323-331, Springer, 2022. [doi]
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