# Singularity Analysis and Dimensional Synthesis of a 2R1T 3-UPU Parallel Mechanism Based on Performance Atlas

> Research article (Journal of Mechanisms and Robotics, 2022) · cited 21× · AI/ML

**Wikidata**: [openalex:W4211057510](https://www.wikidata.org/wiki/openalex:W4211057510)  
**Source**: https://4ort.xyz/entity/singularity-analysis-and-dimensional-synthesis-of-a-2r1t-3-upu-parallel-mechanism-based-on-performance-atlas