# A geometrical approach for configuration and singularity analysis of a new non-symmetric 2DOF 5R Spherical Parallel Manipulator

> Research article (Mechanism and Machine Theory, 2020) · cited 26× · AI/ML

**Wikidata**: [openalex:W2998813067](https://www.wikidata.org/wiki/openalex:W2998813067)  
**Source**: https://4ort.xyz/entity/a-geometrical-approach-for-configuration-and-singularity-analysis-of-a-new-non-symmetric-2dof-5r-spherical-parallel-mani