Kinematic synthesis of non-spherical orientation manipulators: Maximization of dexterous regular workspace by multiple response optimization

Krouglicof, N., et al. “Kinematic Synthesis of Non-Spherical Orientation Manipulators: Maximization of Dexterous Regular Workspace by Multiple Response Optimization”. ASME Journal of Mechanical Design, vol. 134, no. 7, 2012, p. 071009, https://doi.org/10.1115/1.4006830.