@article{paperid:1015437,
author = {Enferadi, Javad and Akbarzadeh Tootoonchi, Alireza},
title = {Inverse dynamics analysis of a general spherical star-triangle parallel manipulator using principle of virtual work},
journal = {Nonlinear Dynamics},
year = {2010},
volume = {3},
number = {61},
month = {January},
issn = {0924-090X},
pages = {419--434},
			numpages = {15},
keywords = {Spherical parallel manipulator ·Jacobian matrices ·Link Jacobian matrices · Inverse dynamics ·Virtual work},
}