@article{paperid:1021319,
author = {Akbarzadeh Tootoonchi, Alireza and Javad Enferadi},
title = {A Virtual Work Based Algorithm for Solving Direct Dynamics Problem of a 3-RRP Spherical Parallel Manipulator},
journal = {Journal of Intelligent and Robotic Systems},
year = {2011},
volume = {63},
number = {1},
month = {January},
issn = {0921-0296},
pages = {25--49},
			numpages = {24},
keywords = {Spherical parallel manipulator · Direct link Jacobian matrix . Direct dynamics · Virtual work},
}