Gosselin, C., St-Pierre, E., and Gagné, M., 1996, “On the Development of the Agile Eye: Mechanical Design, Control Issues and Experimentation,” IEEE Rob. Autom. Mag., 3 (4), pp. 29–37.

[CrossRef]Gosselin, C., and Caron, F., 1999, “Two-Degree-of-Freedom Spherical Orienting Device,” U.S. Patent No. 5,966,991.

Ouerfelli, M., and Kumar, V., 1994, “Optimization of a Spherical Five-Bar Parallel Drive Linkage,” ASME J. Mech. Des., 116 (11), pp. 166–173.

[CrossRef]Caron, F., 1997, “Analyse et Conception d’un Manipulateur Paralléle Sphérique à deux Degrés de Liberté Pour L’orientation d’une Caméra,” M.Sc. thesis, Université Laval, Québec.

Cervantes-Sánchez, J. J., Hernández-Rodríguez, J. C., and González-Galván, E. J., 2004, “On the 5R Spherical, Symmetric Manipulator: Workspace and Singularity Characterization,” Mech. Mach. Theory, 39 (4), pp. 409–429.

[CrossRef]Lum, M. J. H., Rosen, J., Sinanan, M. N., and Hannaford, B., 2006, “Optimization of Spherical Mechanism for a Minimally Invasive Surgical Robot: Theoretical and Experimental Approaches,” IEEE Trans. Biomed. Eng., 53 (7), pp. 1440–1445.

[CrossRef]Samson, E., Laurendeau, D., Parizeau, M., Comtois, S., Allan, J. -F., and Gosselin, C., 2006, “The Agile Stereo Pair for Active Vision,” Mach. Vision Appl., 17 (1), pp. 32–50.

[CrossRef]Zhang, L. -J., Niu, Y. W., Li, Y. Q., and Huang, Z., 2006, “Analysis of the Workspace of 2-DOF Spherical 5R Parallel Manipulator,” Proceedings of the 2006 IEEE International Conference on Robotics and Automation , Orlando, FL, pp. 1123–1128.

Carricato, M., and Parenti-Castelli, V., 2004, “A Novel Fully Decoupled Two-Degrees-of-Freedom Parallel Wrist,” Int. J. Robot. Res., 23 (6), pp. 661–667.

[CrossRef]Gogu, G., 2005, “Fully-Isotropic Over-Constrained Parallel Wrists With Two Degrees of Freedom,” Proceedings of 2005 IEEE International Conference on Robotics and Automation , Barcelona, Spain, pp. 4025–4030.

Vertechy, R., and Parenti-Castelli, V., 2006, "

*Advances in Robot Kinematics*", J.Lenarčič and B.Roth, eds., pp. 385–394.

[CrossRef]Herv, J., 2006, “Uncoupled Actuation of Pan-Tilt Wrists,” IEEE Trans. Rob. Autom., 22 (1), pp. 56–64.

Ruggiu, M., 2010, “Kinematic and Dynamic Analysis of a Two-Degree-of-Freedom Spherical Wrist,” ASME J. Mech. Rob., 2 , p. 031006.

Merlet, J. P., 2000, “On the Separability of the Solutions of the Direct Kinematics of a Special Class of Planar 3-RPR Parallel Manipulator,” ASME Paper No. DETC2000/MECH-14103.

Kong, X., and Gosselin, C. M., 2000, “Determination of the Uniqueness Domains of 3-RPR Planar Parallel Manipulators With Similar Platforms,” ASME Paper No. DETC2000/MECH-14094.

Kong, X., and Gosselin, C. M., 2009, “Forward Displacement Analysis of a Quadratic Planar Parallel Manipulator: 3-RPR Parallel Manipulator With Similar Triangular Platforms,” ASME J. Mech. Rob., 1 , p. 024501.

Kong, X., and Gosselin, C. M., 2008, “Forward Displacement Analysis of a Quadratic 3T1R Parallel Manipulator: The 4-DOF Quadrupteron,” Proceedings of the Second International Workshop on Fundamental Issues and Future Research Directions for Parallel Mechanisms and Manipulators , Montpellier, France, Sept. 21– 22, pp. 31–39.

Kong, X., and Gosselin, C. M., 2010, “A Formula That Produces a Unique Solution to the Forward Displacement Analysis of a Quadratic Spherical Parallel Manipulator: The Agile Eye,” ASME J. Mech. Rob., 2 , p. 044051.

Chablat, D., Wenger, P., and Bonev, I. A., 2006, "

*Advances in Robot Kinematics*", J.Lenarčič and B.Roth, eds., Springer, The Netherlands, pp. 221–228.

[CrossRef]Kong, X., 2008, "

*Advances in Robot Kinematics*", edited by J.Lenarčič and P.Wenger, Springer, New York, pp. 29–38.

[CrossRef]Nielsen, J., and Roth, B., 1998, “Formulation and Solution for the Direct and Inverse Kinematics Problems for Mechanisms and Mechatronics Systems,” "*Computational Methods in Mechanical Systems*" (NATO ASI Series F: Computer and Systems Sciences ), Springer, New York, J.Angeles and E.Zakhariev, eds., Vol. 161 , pp. 33–52.

Gupta, K. C., 1997, "*Mechanics and Control of Robots*", Springer, New York, pp. 51–52.

Herrera-Bendezu, L. G., Mu, E., and Cain, J. T., 1988, “Symbolic Computation of Robot Manipulator Kinematics,” Proceedings of the 1988 IEEE International Conference on Robotics and Automation , Philadephia, PA, Apr. 24–29, pp. 993–998.

Rieseler, H., and Wahl, F. M., 1990, “Fast Symbolic Computation of the Inverse Kinematics of Robots,” Proceedings of the 1990 IEEE International Conference on Robotics and Automation , Cincinnati, OH, May 13–18, pp. 462–467.

Kong, X. and Gosselin, C. M., 2001, “Uncertainty Singularity Analysis of Parallel Manipulators Based on the Instability Analysis of Structures,” Int. J. Robot. Res., 20 (11), pp. 847–856.

[CrossRef]Gosselin, C., and Angeles, J., 1990, “Singularity Analysis of Closed-Loop Kinematic Chains,” IEEE Trans. Rob. Autom., 6 (3), pp. 281–290.

[CrossRef]Yang, J., and Gao, F., 2009, “Singularity Loci of an Orthogonal Spherical Two-Degree-of-Freedom Parallel Mechanism,” Frontiers of Mechanical Engineering in China, 4 (4), pp. 379–385.

[CrossRef]Kong, X., and Gosselin, C. M., 2002, “Generation Of Architecturally Singular 6-SPS Parallel Manipulators With Linearly Related Planar Platforms,” Electronic Journal of Computational Kinematics, 1 (1), Paper No. 7 (9 pages).

Karger, A., 2008, “Architecturally Singular Non-Planar Parallel Manipulators,” Mech. Mach. Theory, 43 (3), pp. 335–346.

[CrossRef]Kong, X., and Gosselin, C. M., 2002, “Kinematics and Singularity Analysis of a Novel Type of 3-CRR 3-DOF Translational Parallel Manipulator,” Int. J. Robot. Res., 21 (9), pp. 791–798.

Wu, C., Liu, X. -J., Wang, L., and Wang, J., 2010, “Optimal Design of Spherical 5R Parallel Manipulators Considering the Motion/Force Transmissibility,” ASME J. Mech. Des., 132 , p. 031002.

[CrossRef]