Error modelling and experimental validation for a planar 3-PPR parallel manipulator. - Guanglei Wu; Shaoping Bai; Jørgen Kepler (ICAR, 2011)

Dynamic modeling and design optimization of a 3-DOF spherical parallel manipulator. - Guanglei Wu; Stéphane Caro; Shaoping Bai; Jørgen Kepler (Robotics Auton. Syst., 2014)