@article{paperid:1011611,
author = {Enferadi, Javad and Akbarzadeh Tootoonchi, Alireza},
title = {A novel spherical parallel manipulator: forward position problem singularity analysis and isotropy design},
journal = {Robotica},
year = {2009},
volume = {27},
number = {5},
month = {September},
issn = {0263-5747},
pages = {663--676},
			numpages = {13},
keywords = {Spherical parallel manipulator; Forward position problem; Bezout’s elimination method; Isotropy design; Singularity analysis},
}