Advances in Robot Kinematics: Analysis and Design 2008, pp 101-110

Synthesis and Analysis of a Constrained Spherical Parallel Manipulator

G. S. Soh , J. M. McCarthy

Robotics and Autonomous Systems

Volume 62, Issue 10, October 2014, Pages 1377–1386

Dynamic modeling and design optimization of a 3-DOF spherical parallel manipulator

Guanglei Wu a , , Stéphane Caro b , , Shaoping Bai a , , , Jørgen Kepler a ,

Forward kinematics of spherical parallel manipulators with revolute joints