# Kinematics, Singularity Study and Optimization of an Innovative Spherical Parallel Manipulator with Large Workspace

> Research article (Journal of Intelligent & Robotic Systems, 2017) · cited 24× · AI/ML

**Wikidata**: [openalex:W2777417422](https://www.wikidata.org/wiki/openalex:W2777417422)  
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