Geometric analysis of parallel mechanisms

Singularity analysis of closed-loop kinematic chains

Clément Gosselin, Jorge Angeles · IEEE Transactions on Robotics and Automation · 1990 · 1.7K citations

Engineering, Mechanical Engineering, Robotics Engineering +17

Practical Parameterization of Rotations Using the Exponential Map

Frank Sebastian Grassia · Journal of Graphics Tools · 1998 · 501 citations · Full text

Engineering, Computer Science, 3D Modeling +16

Determination of the Workspace of 6-DOF Parallel Manipulators

Clément Gosselin · Journal of Mechanical Design · 1990 · 476 citations

Engineering, Mechanical Engineering, Geometric Modeling +10

Dynamic analysis of a three-degrees-of-freedom in-parallel actuated manipulator

Kok‐Meng Lee, Divya Shah · IEEE Journal on Robotics and Automation · 1988 · 447 citations

Engineering, Mechanical Engineering, Robotics Engineering +17

Architecture singularities of platform manipulators

Ou Ma, Jorge Angeles · 2002 · 193 citations

Engineering, Mechanical Engineering, Robotics Engineering +16