Optimum design of spherical parallel manipulators for a prescribed workspace

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

Articulated Hands

J. Kenneth Salisbury, John Craig · The International Journal of Robotics Research · 1982 · 1.5K citations

Engineering, Mechatronics Engineering, Robotics Engineering +17

A Global Performance Index for the Kinematic Optimization of Robotic Manipulators

Clément Gosselin, Jorge Angeles · Journal of Mechanical Design · 1991 · 950 citations

Engineering, Mechanical Engineering, Robotics Engineering +16

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

Jacobian, Manipulability, Condition Number, and Accuracy of Parallel Robots

Jean‐Pierre Merlet · Journal of Mechanical Design · 2005 · 725 citations

Engineering, Mechanical Engineering, Robotics Engineering +15