Singular Curves and Cusp Points in the Joint Space of 3-RPR Parallel Manipulators. - Mazen Zein; Philippe Wenger; Damien Chablat (ICRA, 2006)

Singularity Surfaces and Maximal Singularity-Free Boxes in the Joint Space of Planar 3-RPR Parallel Manipulators - Mazen Zein; Philippe Wenger; Damien Chablat (CoRR, 2007)

An Algorithm for Computing Cusp Points in the Joint Space of 3-RPR Parallel Manipulators - Mazen Zein; Philippe Wenger; Damien Chablat (CoRR, 2007)

Degeneracy study of the forward kinematics of planar 3-RPR parallel manipulators - Philippe Wenger; Damien Chablat; Mazen Zein (CoRR, 2007)

A design oriented study for 3R Orthogonal Manipulators With Geometric Simplifications - Mazen Zein; Philippe Wenger; Damien Chablat (CoRR, 2007)

An Exhaustive Study of the Workspace Topologies of all 3R Orthogonal Manipulators with Geometric Simplifications - Mazen Zein; Philippe Wenger; Damien Chablat (CoRR, 2007)

An Exhaustive Study of the Workspaces Tolopogies of all 3R Orthogonal Manipulators with Geometric Simplifications - Mazen Zein; Philippe Wenger; Damien Chablat (CoRR, 2007)

Singular curves in the joint space and cusp points of 3-RPR parallel manipulators. - Mazen Zein; Philippe Wenger; Damien Chablat (Robotica, 2007)

Analyse cinématique des manipulateurs sériels 3R orthogonaux et des manipulateurs parallèles plan. (Kinematic Analysis of 3R serial orthogonal manipulators and planar parallel manipulators). - Mazen Zein (2007)

Non-Singular Assembly-mode Changing Motions for 3-RPR Parallel Manipulators - Mazen Zein; Philippe Wenger; Damien Chablat (CoRR, 2008)