Kinematic and Dynamic Analysis of the 2-DOF Spherical Wrist of Orthoglide 5-axis

Raza Ur-Rehman Stéphane Caro Damien Chablat Philippe Wenger Kinematic and Dynamic Analysis of the 2-DOF Spherical Wrist of Orthoglide 5-axis http://arxiv.org/abs/0904.0145 2009 CoRR abs/0904.0145 db/journals/corr/corr0904.html#abs-0904-0145 informal publication