# A geometric approach for singularity analysis of 3-DOF planar parallel manipulators using Grassmann–Cayley algebra

> Research article (Robotica, 2015) · cited 10× · AI/ML

**Wikidata**: [openalex:W2232202074](https://www.wikidata.org/wiki/openalex:W2232202074)  
**Source**: https://4ort.xyz/entity/a-geometric-approach-for-singularity-analysis-of-3-dof-planar-parallel-manipulators-using-grassmanncayley-algebra