97 références sur: Robot sphérique
 1

Akbarzadeh A. and Enferadi J.
A virtual work based algorithm for solving direct dynamics problem of
a 3RRP spherical parallel manipulator.
J. of Intelligent and Robotic Systems, 63(1):25–49, 1994.
Keywords: spherical robot,dynamics,3 dof robot.
 2

Akbarzadeh A., Enferadi J., and Sharifnia M.
Dynamics analysis of a 3rrp spherical parallel manipulator using the
natural orthogonal complement.
Multibody System Dynamics, 29:361–380, 2013.
Keywords: dynamics,spherical robot.
 3

Alamdar A. and others .
A geometrical approach for configuration and singularity analysis of
a new nonsymmetric 2dof 5R spherical parallel manipulator.
Mechanism and Machine Theory, 147, 2020.
Keywords: 2 dof robot,kinematics,singularity,spherical
robot,wrist.
 4

Alizade R.I., Tagiyev N.R., and Duffy J.
A forward and reverse displacement analysis of an inparallel
spherical manipulator.
Mechanism and Machine Theory, 29(1):125–137,
Janvier 1994
Keywords: mechanical architecture,kinematics,spherical
robot,workspace,3 dof robot.
 5

AlWidyan K. and Angeles J.
The robust design of parallel spherical robots.
Mechanism and Machine Theory, 46(3):335–343,
Mars 2011
Keywords: spherical robot,optimal design,3 dof robot,clearance.
 6

Arrouk K.A., Bouzgarrou B.C., and Gogu G.
On the fullspin dexterous orientation workspace of spherical
parallel robot of
type.
In EUCOMES, pages 347–354, Aachen,
46 Septembre 2018
Keywords: orientation workspace,spherical robot.
 7

Asada H. and Granito C.
Kinematic and static characterization of wrist joints and their
optimal design.
In IEEE Int. Conf. on Robotics and Automation, pages 244–250,
St Louis, 2528 Mars 1985
Keywords: spherical robot,mechanical architecture,optimal
design.
 8

Bai S. and Hansen M.R.
Modelling of a spherical robotic wrist with euler parameters.
In 12th IFToMM World Congress on the Theory of Machines and
Mechanisms, Besancon, 1821 Juin 2007
Keywords: spherical robot,wrist.
 9

Bai S., Hansen M.R., and Angeles J.
A robust forwarddisplacement analysis of spherical parallel robot.
Mechanism and Machine Theory, 44(12):2204–2216,
Décembre 2009
Keywords: forward kinematics,3 dof robot,spherical robot,wrist.
 10

Bai S., Hansen M.R., and Andersen T.O.
Modelling of a special class of spherical parallel manipulators with
euler parameters.
Robotica, 27(2):161–170, Mars 2009
Keywords: spherical robot,wrist,workspace.
 11

Bai S.
Optimum design of spherical parallel manipulators for a prescribed
workspace.
Mechanism and Machine Theory, 45(2):200–211,
Février 2010
Keywords: spherical robot,wrist,workspace,optimal
design,mechanical architecture,design.
 12

Bombin C., Ros L., and Thomas F.
On the computation of the direct kinematics of parallel spherical
mechanism using Bernstein polynomials.
In IEEE Int. Conf. on Robotics and Automation, pages
3332–3337, Seoul, 2126 Mai 2001
Keywords: spherical robot,forward kinematics.
 13

Bonev I., Chablat D., and Wenger P.
Working and assembly modes of the Agile Eye.
In IEEE Int. Conf. on Robotics and Automation, pages
2317–2322, Orlando, 1618 Mai 2006
Keywords: spherical robot,singularity,forward kinematics.
 14

Boudreau R., Darenfed S., and Turkkan N.
Etude comparative de trois nouvelles approches pour la solution du
problème géométrique direct des manipulateurs parallèles.
Mechanism and Machine Theory, 33(5):463–477,
Juillet 1998
Keywords: forward kinematics,spherical robot.
 15

Boudreau R., Levesque G., and Darenfed S.
Parallel manipulator kinematics learning using holographic neural
network models.
Robotics and ComputerIntegrated Manufacturing, 14(1):37–44,
1998.
Keywords: forward kinematics,spherical robot,planar
robot,neurons networks.
 16

Bulca F., Angeles J., and ZsomborMurray P.J.
On the workspace determination of spherical serial and platform
mechanisms.
Mechanism and Machine Theory, 34(3):497–512,
Avril 1999
Keywords: spherical robot,workspace.
 17

Cammarata A. and others .
Dynamic stiffness model of spherical parallel robots.
Journal of Sound and Vibration, 384:312–324, 2016.
Keywords: stiffness,spherical robot,dynamics,statics.
 18

Carbonari L. and others .
Analysis of kinematics and reconfigurability of a spherical parallel
manipulator.
IEEE Trans. on Robotics, 30(6):1541–1547,
Décembre 2014
Keywords: spherical robot,3 dof
robot,kinematics,kinetics,singularity.
 19

Celaya E.
Interval propagation for solving parallel spherical mechanisms.
In ARK, pages 415–422, Caldes de Malavalla,
29 Juin2 Juillet, 2002
Keywords: forward kinematics,spherical robot.
 20

Chablat D. and Angeles J.
The computation of all 4r serial spherical wrists with an isotropic
architecture.
In F.C. Park C.C. Iurascu, editor, Computational Kinematics,
pages 1–10. EJCK, 2022 Mai 2001
Keywords: spherical robot,isotropy.
 21

Chablat D. and others .
Workspace analysis in the design parameter space of a 2dof spherical
parallel mechanism for a prescribed workspace: Application to the otologic
surgery.
Mechanism and Machine Theory, 157, 2021.
Keywords: spherical robot,2 dof
robot,workspace,medical,applications.
 22

Chaker A. and others .
Clearance and manufacturing errors effects on the accuracy of the
3RCC spherical parallel manipulators.
In RoManSy, Paris, 1215 Juin 2012
Keywords: 3 dof robot,wrist,spherical robot,accuracy,clearance.
 23

Chaker A. and others .
Clearance and manufacturing errors effects on the accuracy of the
3RCC spherical parallel manipulator.
European Journal of Mechanics A/Solids, 27:86–95,
Janvier Février, 2013
Keywords: spherical robot,3 dof robot,clearance,accuracy.
 24

Chen Y. and others .
Error modeling and analysis of a spherical parallel mechanism with a
multiloop circuit incremental method.
Mechanism and Machine Theory, 191, 2024.
Keywords: spherical robot,accuracy.
 25

Corinaldi D. and others .
Rotational mobility analysis of the 3RFR class of spherical
parallel robot.
In ARK, Bologna, 15 Juillet 2018
Keywords: spherical robot,singularity.
 26

Craver W.M.
Structural analysis and design of a threedegreeoffreedom robotic
shoulder module.
Master's thesis, The University of Texas, Austin, 1989.
Keywords: spherical robot,mechanical architecture,3 dof robot.
 27

Degirmency A. and others .
Design and control of a parallel linkage wrist for robotic
microsurgery.
In IEEE Int. Conf. on Intelligent Robots and Systems (IROS),
Hamburg, Germany, 28 Septembre2 Octobre, 2015
Keywords: spherical robot,wrist,2 dof robot,hybrid
robot,applications,medical.
 28

Di Gregorio R. and ParentiCastelli V.
Geometric error effects on the performances of a parallel wrist.
In 3rd Chemnitzer Parallelkinematik Seminar, pages 1011–1024,
Chemnitz, 2325 Avril 2002
Keywords: spherical robot,performance analysis,accuracy.
 29

Enferadi J. and Tootoonchi A.A.
A novel spherical parallel manipulator: forward position problem,
singularity analysis, and isotropy design.
Robotica, 27(5):663–676, 2009.
Keywords: spherical robot,forward kinematics,optimal
design,singularity.
 30

Enferadi J. and Tootoonchi A.A.
A novel approach for forward position analysis of a doubletriangle
spherical parallel manipulator.
European Journal of Mechanics A/Solids, 29(3):348–355,
Mai Juin, 2010
Keywords: spherical robot,forward kinematics.
 31

Enferadi J. and Tootoonchi A.A.
Accuracy and stiffness analysis of a 3RRP spherical parallel
manipulator.
Robotica, 29(2):193–200, Mars 2011
Keywords: spherical robot,wrist,3 dof robot,accuracy,stiffness.
 32

Gallardo J. and others .
A family of spherical parallel manipulators with two legs.
Mechanism and Machine Theory, 43(2):201–216,
Février 2008
Keywords: mechanical architecture,3 dof robot,spherical
robot,wrist.
 33

Gezgin E. and others .
Structural design of a positioning spherical parallel manipulator to
be utilized in brain biopsy.
Int J Med Robotics Comput Assist Surg, 15, 2019.
Keywords: medical,applications,mechanical
architecture,spherical robot.
 34

Gosselin C.
Kinematic analysis optimization and programming of parallel
robotic manipulators.
Ph.D. Thesis, McGill University, Montréal,
15 Juin 1988
Keywords: mechanical architecture,optimal design,planar
robot,kinematics,spherical robot,workspace.
 35

Gosselin C. and Angeles J.
The optimum kinematic design of a spherical threedegreeoffreedom
parallel manipulator.
J. of Mechanisms, Transmissions and Automation in Design,
111(2):202–207, 1989.
Keywords: spherical
robot,workspace,isotropy,singularity,design,3 dof robot,wrist.
 36

Gosselin C. and Lavoie E.
Spherical parallel manipulators: dexterity and isotropy.
In ARK, pages 143–149, Ferrare,
79 Septembre 1992
Keywords: mechanical architecture,3 dof robot,spherical
robot,isotropy,wrist.
 37

Gosselin C. and Sefrioui J.
Determination of the singular loci of spherical 3 d.o.f parallel
manipulators.
In 22nd Biennial Mechanisms Conf., volume DE45, pages
329–336, Scottsdale, 1316 Septembre 1992
Keywords: singularity,spherical robot,wrist.
 38

Gosselin C., Sefrioui J., and Richard M.J.
On the direct kinematics of a class of spherical
threedegreeoffreedom parallel manipulators.
In 22nd Biennial Mechanisms Conf., pages 13–19, Scottsdale,
1316 Septembre 1992
Keywords: spherical robot,forward kinematics,wrist.
 39

Gosselin C., Sefrioui J., and Richard M.J.
On the direct kinematics of general spherical threedegreeoffreedom
parallel manipulators.
In 22nd Biennial Mechanisms Conf., pages 7–11, Scottsdale,
1316 Septembre 1992
Keywords: spherical robot,forward kinematics,wrist.
 40

Gosselin C.M and Lavoie E.
On the kinematic design of spherical threedegreeoffreedom parallel
manipulators.
Int. J. of Robotics Research, 12(4):394–402,
Août 1993
Keywords: mechanical architecture,3 dof robot,spherical
robot,isotropy,wrist.
 41

Gosselin C. and Hamel J.F.
The Agile Eye: A high performance threedegreeoffreedom
cameraorienting device.
In IEEE Int. Conf. on Robotics and Automation, pages 781–787,
San Diego, 813 Mai 1994
Keywords: spherical robot,wrist,3 dof robot.
 42

Gosselin C. and Hamel J.F.
Development and experimentation of a fast threedegreeoffreedom
spherical parallel manipulator.
In ISRAM, pages 229–234, Hawa&̈#305;,
1418 Août 1994
Keywords: spherical robot,isotropy,workspace,optimal
design,mechanical architecture,3 dof robot,wrist.
 43

Gosselin C., Perreault T., and Vaillancourt C.
Smaps: a computeraided design package for the analysis and
optimization of a spherical parallel manipulators.
In ISRAM, pages 115–120, Hawa&̈#305;,
1418 Août 1994
Keywords: spherical robot,optimal design,mechanical
architecture,CAD,workspace,singularity,design,3 dof robot,wrist,simulation.
 44

Gosselin C., Sefrioui J., and Richard M.J.
On the direct kinematics of spherical threedegreeoffreedom
parallel manipulators with a coplanar platform.
ASME J. of Mechanical Design, 116(2):587–593,
Juin 1994
Keywords: forward kinematics,spherical robot.
 45

Gosselin C., Cloutier C., and Rancourt D.
Kinematic analysis of spherical two degreeoffreedom parallel
manipulators.
In ASME 23rd Biennal Mechanisms Conf., pages 255–262,
Minneapolis, 1114 Septembre 1994
Keywords: spherical robot,2 dof robot,kinematics,workspace.
 46

Gosselin C., Sefrioui J., and Richard M.J.
On the direct kinematics of spherical threedegreeoffreedom
parallel manipulators of general architecture.
ASME J. of Mechanical Design, 116(2):594–598,
Juin 1994
Keywords: forward kinematics,spherical robot.
 47

Gosselin C. and Gagné M.
A closedform solution for the direct kinematics of a special class
of spherical threedegreeoffreedom parallel manipulators.
In JP. Merlet B. Ravani, editor, Computational Kinematics,
pages 231–240. Kluwer, 1995.
Keywords: spherical robot,forward kinematics,3 dof robot,wrist.
 48

Gosselin C., Perreault L., and Vaillancourt C.
Simulation and computeraided kinematic design of
threedegreeoffreedom spherical parallel manipulators.
J. of Robotic Systems, 12(12):857–869, 1995.
Keywords: kinematics,3 dof robot,spherical
robot,workspace,design.
 49

Gosselin C. and StPierre E.
Development and experimentation of a fast 3dof orienting device.
Int. J. of Robotics Research, 16(15):619–630,
Octobre 1997
Keywords: spherical robot,applications,hardware.
 50

Gosselin C.M.
Static balancing of spherical 3dof parallel mechanisms and
manipulators.
Int. J. of Robotics Research, 18(8):812–829,
Août 1999
Keywords: spherical robot,balancing.
 51

Gosselin C.M. and Wang J.
Singulariti loci of a special class of spherical three
degreeoffreedom parallel mechanism with revolute actuators.
Int. J. of Robotics Research, 21(7):649–659,
Juillet 2002
Keywords: singularity,spherical robot.
 52

Huang Z. and Yao Y.L.
A new closedform kinematics of the generalized 3dof spherical
parallel manipulator.
Robotica, 17(5):475–485, Septembre 1999
Keywords: forward kinematics,spherical robot.
 53

Ji P. and Wu H.T.
Algebraic solution to forward kinematics of a 3dof spherical
parallel manipulator.
J. of Robotic Systems, 18(5):251–257, 2001.
Keywords: forward kinematics,spherical robot.
 54

Keler M.L.
Dual expansion of an optimal spherical platform device.
In ARK, pages 79–86, Strobl,
29 Juin4 Juillet, 1998
Keywords: isotropy,wrist,spherical robot,design theory.
 55

Kim WK., Yi B.J., and Cho W.
RCC characteristics of planar/spherical three degreeoffreedom
parallel mechanism with joint compliance.
ASME J. of Mechanical Design, 122(1):10–16,
Mars 2000
Keywords: passive compliance,planar robot,spherical
robot,passive joints.
 56

Kong X. and Gosselin C.M.
Type synthesis of 3dof spherical parallel manipulators based on
screw theory.
In ASME Design Engineering Technical Conference, Montréal,
29 Septembre2 Octobre, 2002
Keywords: spherical robot,structural synthesis.
 57

Kong X. and Gosselin C.M.
Type synthesis of threedegreeoffreedom spherical parallel
manipulators.
Int. J. of Robotics Research, 23(3):237–245,
Mars 2004
Keywords: spherical robot,structural synthesis.
 58

Kong X. and Gosselin C.M.
Type synthesis of 3dof spherical parallel manipulators based on
screw theory.
ASME J. of Mechanical Design, 126(1):101–108,
Janvier 2004
Keywords: spherical robot,structural synthesis.
 59

Kumar S. and others .
Design and kinematic analysis of the novel almost spherical parallel
mechanism active ankle.
J. of Intelligent and Robotic Systems, 95:303–325, 2019.
Keywords: mechanical architecture,spherical
robot,kinematics,medical,applications.
 60

Larochelle P.M.
Design of 3dof spherical robotic mechanisms.
In 9th IFToMM World Congress on the Theory of Machines and
Mechanisms, pages 1826–1830, Milan,
30 Août2 Septembre, 1995
Keywords: spherical robot,design,3 dof robot,wrist.
 61

LealNaranjo JA. and others .
Comparison of metaheuristic optimization algorithms for dimensional
synthesis of a spherical parallel manipulator.
Mechanism and Machine Theory, 140:586–600, 2019.
Keywords: spherical robot,optimal design.
 62

LeguayDurand S. and Reboulet C.
New design of a redundant spherical manipulator.
In 6th ISRAM, pages 365–370, Montpellier,
2830 Mai 1996
Keywords: mechanical architecture,redundant
robot,design,spherical robot,isotropy.
 63

LeguayDurand S. and Reboulet C.
Optimal design of a redundant spherical parallel manipulator.
Robotica, 15(4):399–405,
Juillet Août, 1997
Keywords: mechanical architecture,design,redundant
robot,spherical robot,isotropy,optimal design.
 64

Li H. and others .
Design and control of 3dof spherical parallel mechanism robot eyes
inspired by the binocular vestibuleocular reflex.
J. of Intelligent and Robotic Systems, 78(34):425–441,
Juin 2015
Keywords: spherical robot,control,3 dof robot,applications.
 65

Li T. and Payandeh S.
Design of spherical parallel mechanisms for application to
laparoscopic surgery.
Robotica, 20(2):133–138, Mars 2002
Keywords: applications,spherical robot,optimal design,medical.
 66

Merlet JP.
Les Robots parallèles.
Hermès, Paris, 1990.
 67

Merlet JP.
Les robots parallèles, 21 Juin 1993
Habilitation à diriger les recherches, UNSA, Nice.
 68

Merlet JP.
Les Robots parallèles.
Hermès, Paris, 1997.
 69

Niyetkaliyev A. and Shintemirov A.
An approach for obtaining unique kinematic solutions of a spherical
parallel manipulator.
In IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics,
pages 1355–1360, Besancon, 811 Juillet 2014
Keywords: spherical robot,kinematics.
 70

Paganelli D.
Avoiding parallel singularities of 3UPS and 3UPU spherical
wrists.
In IEEE Int. Conf. on Robotics and Automation, pages
1201–1206, Roma, 1014 Avril 2007
Keywords: 3 dof robot,wrist,spherical robot,singularity.
 71

Rad S.A. and others .
Experimental study on robust adaptive control with insufficient
excitation of a 3DOF spherical parallel robot for stabilization purposes.
Mechanism and Machine Theory, 153, 2020.
Keywords: spherical robot,control.
 72

Reboulet C. and Leguay S.
The interest of redundancy for the design of a spherical parallel
manipulator.
In ARK, pages 369–378, PortorozBernadin,
2226 Juin 1996
Keywords: spherical robot,design,redundant robot.
 73

H. Saafi., Laribi M.A., and Zeghloul S.
Optimal haptic control of a redundant 3RRR spherical parallel
manipulator.
In IEEE Int. Conf. on Intelligent Robots and Systems (IROS),
Hamburg, Germany, 28 Septembre2 Octobre, 2015
Keywords: spherical robot,applications,haptic device,redundant
robot,singularity.
 74

H. Saafi., Laribi M.A., and Zeghloul S.
Redundantly acctuated 3RRR spherical parallel manipulator used as
a haptic device: improving dexterity and eliminating singularities.
Robotica, 33(5):1113–1130, Juin 2015
Keywords: spherical robot,applications,haptic device,redundant
robot,singularity.
 75

H. Saafi., Laribi M.A., and Zeghloul S.
Forward kinematic model improvement of a spherical parallel
manipulator using an extra sensor.
Mechanism and Machine Theory, 91:102–119, 2015.
Keywords: spherical robot,forward kinematics with redundant
sensors.
 76

H. Saafi., Laribi M.A., and Zeghloul S.
Optimal torque distribution for a redundant 3RRR spherical
parallel manipulator used as a haptical medical device.
Robotics and Autonomous Systems, 89:40–50, 2017.
Keywords: spherical robot,redundant robot,wrist,medical.
 77

Sadjadian H. and Taghirad H.D.
Kinematics, singularity and stiffness analysis of the hydraulic
shoulder: a 3dof redundant parallel manipulator.
Advanced Robotics, 20(7):763–781, 2006.
Keywords: 3 dof robot,spherical robot,hydraulics.
 78

Saltarén R. and others .
Performance evaluation of spherical parallel platforms for humanoid
robots.
Robotica, 25(3):257–267, Mai 2007
Keywords: spherical
robot,wrist,workspace,singularity,performance analysis.
 79

Shum J.C.F. and ZsomborMurray P.J.
Direct kinematics of the doubletriangular manipulator: an exercise
in geometry thinking.
In ARK, pages 385–394, Piran, 2529 Juin 2000
Keywords: forward kinematics,spherical robot.
 80

Staicu S.
Recursive modelling in dynamics of Agile Wrist spherical parallel
robot.
Robotics and ComputerIntegrated Manufacturing, 25(2):409–416,
Avril 2009
Keywords: dynamics,spherical robot.
 81

Takeda Y., Funabashi H., and Sasaki Y.
Analysis of working space and motion transmissibility of spherical
inparallel actuated mechanism.
In ICAR, pages 165–170, Tokyo,
12 Novembre 1993
Keywords: mechanical architecture,statics,spherical
robot,workspace.
 82

Wang J. and Gosselin C.M.
Singularity analysis and design of kinematically redundant parallel
mechanism.
In ASME Design Engineering Technical Conference, Montréal,
29 Septembre2 Octobre, 2002
Keywords: singularity,planar robot,spherical robot,redundant
robot.
 83

Wang J. and Gosselin C.M.
Singularity loci of a special class of spherical 3dof parallel
mechanisms with prismatic actuators.
ASME J. of Mechanical Design, 126(2):319–326,
Mars 2004
Keywords: singularity,3 dof robot,spherical robot.
 84

Wang J. and Gosselin C.M.
Kinematic analysis and design of kinematically redundant parallel
mechanisms.
ASME J. of Mechanical Design, 126(1):109–118,
Janvier 2004
Keywords: redundant robot,planar robot,singularity,3 dof
robot,spherical robot,wrist,6 dof robot.
 85

Weill A., Langlois R.G., and Hayes M.J.D.
The effect of dual row omnidirectional wheels on the kinematics of
the Atlas spherical motion platform.
Mechanism and Machine Theory, 44(2):349–358,
Janvier 2009
Keywords: spherical robot,kinematics.
 86

Wiitala J.M. and Stanisic M.M.
Kinematics of a splitequator symmetrically actuated double pointing
systems used in a robotic wrist.
In ARK, pages 237–246, Strobl,
29 Juin4 Juillet, 1998
Keywords: mechanical architecture,wrist,spherical robot,2 dof
robot.
 87

Wiitala J.M. and Stanisic M.M.
Design of an overconstrained and dextrous spherical wrist.
ASME J. of Mechanical Design, 122(3):347–353,
Septembre 2000
Keywords: mechanical architecture,wrist,spherical robot,2 dof
robot.
 88

Wu G., Bai S., and Kepler J.
Mobile platform center shift in spherical parallel manipulators with
flexible limbs.
Mechanism and Machine Theory, 75:12–26, Mai 2014
Keywords: performance analysis,spherical robot.
 89

Wu G., Caro S., Bai S., and Kepler J.
Dynamic modeling and design optimization of a 3dof spherical
parallel manipulator.
Robotics and Autonomous Systems, 62(10):1377–1386,
Octobre 2014
Keywords: dynamics,spherical robot,optimal design,3 dof robot.
 90

Wu G., Caro S., and Wang J.
Design and transmission analysis of an asymmetrical spherical
parallel manipulator.
Mechanism and Machine Theory, 94, 2015.
Keywords: spherical robot,mechanical architecture,statics.
 91

Wu H., G. ans Shen.
Lateral stability of a 3dof asymmetrical spherical parallel
manipulator with a universal joint featuring infinite torsional mouvement.
In ARK, pages 233–241, Bologna,
15 Juillet 2018
Keywords: mechanical architecture,spherical
robot,stiffness,dynamics.
 92

Wu G. and Bai S.
Design and kinematic analysis of a 3RRR spherical parallel
manipulator reconfigured with fourbar linkages.
Robotics and ComputerIntegrated Manufacturing, 56:55–65,
2019.
Keywords: spherical robot,modular robot,mechanical
architecture,performance analysis.
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Yi BJ., Freeman R.A., and Tesar D.
Force and stiffness transmission in redundantly actuated mechanisms:
the case for a spherical shoulder mechanism.
In 22nd Biennial Mechanisms Conf., pages 163–172, Scottsdale,
1316 Septembre 1992
Keywords: redundant robot,spherical
robot,statics,stiffness,singularity.
 94

Zarkandi S.
A new geometric method for singularity analysis of spherical
mechanisms.
Robotica, 40(7):475–504, 2022.
Keywords: spherical robot,3 dof robot,mechanical
architecture,dynamics,optimal design.
 95

Zarkandi S.
Taskbased torque minimization of a 3PRR
spherical parallel manipulator.
Robotica, 40:475–504, Mars 2022
Keywords: spherical robot,singularity,3 dof robot.
 96

Zhang D. and Zhang F.
Design and analysis of a totally decoupled 3dof spherical parallel
manipultator.
Robotica, 29(7):1093–1100, Décembre 2011
Keywords: 3 dof robot,spherical robot,wrist,decoupled robot.
 97

Zhang LJ. and others .
Analysis of the workspace of 2dof spherical 5r parallel manipulator.
In IEEE Int. Conf. on Robotics and Automation, pages
1123–1128, Orlando, 1618 Mai 2006
Keywords: spherical robot,2 dof robot,workspace.
JP. Merlet