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Moroz, G., Rouillier, F., Chablat, D. and Wenger, P. (2010) On the Determination of Cusp Points of 3-RPR Parallel Manipulators. Mechanism and Machine Theory, 45, 1555-1567.
https://doi.org/10.1016/j.mechmachtheory.2010.06.016

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