Development of 3-USR Type Spatial 6-DOF Parallel Mechanism with Large Workspace - Proposal of 3-USR Mechanism and Design of Spherical 5-Link Mechanism to Replace Active Universal Pairs (U) -. - Hayato Ishihara; Takumu Kikuchi; Masaru Higuchi; Yuichi Nakazato; Kensuke Takita (J. Robotics Mechatronics, 2024)