Inverse dynamics analysis of a general spherical star-triangle parallel manipulator using principle of virtual work

Author： Enferadi Javad   Akbarzadeh Tootoonchi Alireza  

Publisher： Springer Publishing Company

ISSN： 0924-090X

Source： Nonlinear Dynamics, Vol.61, Iss.3, 2010-08, pp. : 419-434

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