# Closed-form dynamics of a 3-DOF spatial parallel manipulator by combining the Lagrangian formulation with the virtual work principle

> Research article (Nonlinear Dynamics, 2016) · cited 45× · AI/ML

**Wikidata**: [openalex:W2481897886](https://www.wikidata.org/wiki/openalex:W2481897886)  
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