@article{paperid:1015250,
author = {Enferadi, Javad and Akbarzadeh Tootoonchi, Alireza},
title = {A novel approach for forward position analysis of a double-triangle spherical parallel manipulator},
journal = {European Journal of Mechanics A-Solids},
year = {2010},
volume = {29},
number = {3},
month = {July},
issn = {0997-7538},
pages = {348--355},
			numpages = {7},
keywords = {Spherical parallel manipulator
Forward position analysis
Rodrigues formula
Bezout’s elimination method},
}