@article{paperid:1093013,
author = {Amir Tehrani and S. Nader Nabavi and Akbarzadeh Tootoonchi, Alireza and Hadi Kalani},
title = {A Conceptual and Straightforward Approach for Solving the Closed-form Direct Kinematics of a General Coplanar 6-PUS Parallel Manipulator},
journal = {Iranian Journal of Science and Technology-Transactions of Mechanical Engineering},
year = {2022},
volume = {47},
number = {2},
month = {October},
issn = {2228-6187},
pages = {753--764},
			numpages = {11},
keywords = {Parallel robot · General 6-PUS robot · Direct kinematics · Elimination method},
}