Soheil Zarkandi. A new geometric method for singularity analysis of spherical mechanisms. Robotica, 29(7):1083-1092, 2011. [doi]
@article{Zarkandi11,
title = {A new geometric method for singularity analysis of spherical mechanisms},
author = {Soheil Zarkandi},
year = {2011},
doi = {10.1017/S0263574711000385},
url = {http://dx.doi.org/10.1017/S0263574711000385},
researchr = {https://researchr.org/publication/Zarkandi11},
cites = {0},
citedby = {0},
journal = {Robotica},
volume = {29},
number = {7},
pages = {1083-1092},
}