Duchemin G, Dombre E, Pierrot F (2000) SCALPP: A 6-DOF robot with a non-spherical wrist for surgical applications. Advances in Robot Kinematics PP: 165-174.
 Gupta KC (1986) Rotatability considerations for spherical four-bar linkages with applications to robot wrist design. ASME J Mech Transm Autom Des 108(3): 387-391.
 Lee KM, Vachtsevanos G, Kwan CH (1988) Development of a spherical stepper wrist motor. J Intell Rob Syst Theor Appl 1(3): 225-242.
 Trabia M, Davidson JK (1989) Design conditions for the orientation and attitude of a robot tool carried by a 3-R spherical wrist. ASME J Mech Transm Autom Des 111(2): 176-187.
 Gregorio RD (2000) Kinematics of a new spherical parallel manipulator with three equal legs: The 3-URC wrist. J Rob Syst 18(5): 213-219.
 Gregorio RD, Castelli VP (1998) A Translational 3-DOF Parallel Manipulator. Advances in Robot Kinematics PP: 49-58.
 Wang J, Liu X (2003) Analysis of a novel cylindrical 3-DoF parallel robot. Rob Autom Syst 42(1): 31-46.
 Carricato M, Castelli VP (2004) A novel fully decoupled two-degrees-of-freedom parallel wrist. Int J Robotics Res 23(6): 661-667.
 Fang Y, Tsai L (2004) Structure synthesis of a class of 3-DOF rotational parallel manipulators. IEEE Trans Rob Autom 20(1): 117-121.
 Kong X, Gosselin CM (2004) Type synthesis of 3-DOF spherical parallel manipulators based on screw theory. J Mech Des, Trans ASME 126(1): 101-108.
 Chablat D, Wenger PH (2005) Design of a spherical wrist with parallel architecture: Application to vertebrae of an eel robot. IEEE International Conference on Robotics and Automation.
 Vischer P, Clavel R (2016) Argos: A novel 3-DoF parallel wrist mechanism. Int J Robotics Res 19(1): 5-11.
 Humen J (1974) Floating chamber machine, US Patent. No. 3973469.
 Wells WM (1976) Multi-directional positioner, US. Patent. No. 4045958.
 Kimura K, Sato S (1984) Wrist mechanism for industrial robot, US. Patent. No. 4574655.
 Rosheim ME (1986) Compact robot wrist acuator, US. Patent. No. 4686866.
 Stackhouse TH (1976) Manipulator, US. Patent. No. 4068536.
 Fletcher JC, Administrator KL (1976) Wrist joint assembly, US. Patent. No. 4068763.
 Asada H, Granito JAC (1985) Kinematic and static characterization of wrist joints and their optimal design. Proceedings IEEE International Conference on Robotics and Automation 2: 244-250.
 Campa R, Camarillo K, Arias L (2006) Kinematic modeling and control of robot manipulators via unit quaternions: Application to a spherical wrist. IEEE Conference on Decision & Control.
 Karami M, Tavakolpour Saleh A, Norouzi A (2017) Modeling, development, and evaluation of a micro-robot equipped with vibratory actuator. Modares Mechanical Engineering 17(8): 413-422.
 Abdollahi Khosroshahi H, Badamchizadeh M (2018) Design and Implementation of a new mechanism for the planar robotic arm. Modares Mechanical Engineering 18(5): 341-351.