Kinematic analysis and workspace determination of hexarot-a novel 6-DOF parallel manipulator with a rotation-symmetric arm system. - Mohammad Reza Chalak Qazani; Siamak Pedrammehr; Arash Rahmani; Behzad Danaei; Mir Mohammad Ettefagh; Aslan Khani Sheikh Rajab; Hamid Abdi (Robotica, 2015)