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June 1, 1989Journal of Mechanisms Transmissions and Automation in Design

The Optimum Kinematic Design of a Spherical Three-Degree-of-Freedom Parallel Manipulator

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CGClément GosselinUniversité Laval JAJorge AngelesIntelligent Machines (Sweden)

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Gosselin et al. (1989) studied this question.

synapsesocial.com/papers/6a6fb1178031ec7bb1dbe3fa https://doi.org/10.1115/1.3258984

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