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

@article{Gosselin2002SingularityLO,
  title={Singularity Loci of a Special Class of Spherical Three-degree-of-freedom Parallel Mechanisms with Revolute Actuators},
  author={Cl{\'e}ment Gosselin and Jing Wang},
  journal={I. J. Robotics Res.},
  year={2002},
  volume={21},
  pages={649-660}
}
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