Methodology for Modeling Coupled Rigid Multibody Systems Using Unitary Quaternions: The Case of Planar RRR and Spatial PRRS Parallel Robots. - Francisco Cuenca-Jiménez; Eusebio Jiménez López; Mario Acosta Flores; F. Peñuñuri; Ricardo Peón-Escalante; Juan José Delfín Vázquez (Robotics, 2025)