Singularity-invariant leg rearrangements in Stewart platforms
Singularity-invariant leg rearrangements in doubly-planar Stewart-Gough platforms
Singularity-invariant leg rearrangements in doubly-planar Stewart-Gough platforms
Partially-flagged parallel manipulators: singularity charting and avoidance
Optimal Design of a 6-DOF 4-4 Parallel Manipulator with Uncoupled Singularities
New geometric approaches to the analysis and design of Stewart-Gough platforms