Ahmed Hachem Chebbi, Zouhaier Affi, Lotfi Romdhane. Modelling and analysis of the 3-UPU spherical manipulator. TECM [Internet]. 2013 Nov. 1 [cited 2026 May 11];22(2-4):157-69. Available from: https://journals.riverpublishers.com/index.php/EJCM/article/view/1405