@incollection{, D4BF8EEE36B683F897D34A0EE60708F4 , author={{Ajit PalSingh} and {Mr. HassenNigatu} and {SolomonSeid} and {}}, journal={{Global Journal of Researches in Engineering}}, journal={{GJRE}}2249-45960975-586110.34257/gjre, address={Cambridge, United States}, publisher={Global Journals Organisation}1273141 } @book{b0, , author={{ JAngeles }} , title={{Fundamentals of robotics mechanical systems: Theory, methods, and algorithms. 3 rd ed}} New York , publisher={Springer-Verlag} , year={2003} } @incollection{b1, , title={{Singularity of 3-DOF planar parallel mechanisms via screw theory}} , author={{ IABonev } and { DZlatanov } and { CMGosselin }} , journal={{ASME Journal of Mechanical Design}} 125 3 , year={2003} } @book{b2, , title={{Vector and tensor analysis}} , author={{ LBrand }} , year={1947} , publisher={John Wiley and Sons} , address={New York} } @incollection{b3, , title={{Dynamics modelling and control of the 3-RCC translational platform}} , author={{ MCallegari } and { MCPalpacelli } and { MPrincipi }} , journal={{Mechatronics}} 16 , year={2006} } @incollection{b4, , title={{A dynamic analysis of a spatial manipulator to determine the payload weight}} , author={{ IiiCrane } and { CDDuffy } and { J }} , journal={{Journal of Robotic Systems}} 90 7 , year={2003} } @book{b5, , title={{Kinematics of a threedegree-of-freedom in-parallel actuated manipulator mechanism. 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