# Experimental analysis of Type II singularities and assembly change points in a 3UPS+RPU parallel robot

> Research article (Mechanism and Machine Theory, 2021) · cited 21× · AI/ML

**Wikidata**: [openalex:W3120103936](https://www.wikidata.org/wiki/openalex:W3120103936)  
**Source**: https://4ort.xyz/entity/experimental-analysis-of-type-ii-singularities-and-assembly-change-points-in-a-3ups-rpu-parallel-robot