On the quadratic nature of the singularity curves of planar three-degree-of-freedom parallel manipulators

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

Structural Kinematics of In-Parallel-Actuated Robot-Arms

K. H. Hunt · Journal of Mechanisms Transmissions and Automation in Design · 1983 · 860 citations

Engineering, Mechanical Engineering, Robotics Engineering +12

A Stewart Platform- Based Manipulator: General Theory and Practical Construction

E. F. Fichter · The International Journal of Robotics Research · 1986 · 794 citations

Engineering, Mechanical Engineering, Robotics Engineering +12

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

Clément Gosselin, Jorge Angeles · Journal of Mechanisms Transmissions and Automation in Design · 1988 · 761 citations

Engineering, Mechanical Engineering, Robotics Engineering +17

Singular Configurations of Parallel Manipulators and Grassmann Geometry

Jean‐Pierre Merlet · The International Journal of Robotics Research · 1989 · 554 citations

Engineering, Mechanical Engineering, Robotics Engineering +16