AHMED HACHEM CHEBBI; ZOUHAIER AFFI; LOTFI ROMDHANE. Modelling and analysis of the 3-UPU spherical manipulator. European Journal of Computational Mechanics, [S. l.], v. 22, n. 2-4, p. 157–169, 2013. Disponível em: https://journals.riverpublishers.com/index.php/EJCM/article/view/1405. Acesso em: 11 may. 2026.