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The 3-RRS wrist: A new, simple and non-overconstrained spherical parallel manipulatorDI GREGORIO, Raffaele.Journal of mechanical design (1990). 2004, Vol 126, Num 5, pp 850-855, issn 1050-0472, 6 p.Article

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A spatial 6R linkage derived from subtractive Goldberg 5R linkagesSONG, C. Y; CHE, Y.Mechanism and machine theory. 2011, Vol 46, Num 8, pp 1097-1106, issn 0094-114X, 10 p.Article

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