A Planar Quaternion Approach to the Kinematic Synthesis of a Parallel Manipulator, Andrew P. Murray, François Pierrot, Pierre Dauchez, J. Michael McCarthy
Mechanical and Aerospace Engineering Faculty Publications

Center-Point Curves Through Six Arbitrary Points, Andrew P. Murray, J. Michael McCarthy
Mechanical and Aerospace Engineering Faculty Publications

Passing a Central Axis Congruence Through Six Arbitrary Lines in Space, Andrew P. Murray, J. Michael McCarthy
Mechanical and Aerospace Engineering Faculty Publications

Determining Burmester Points from the Analysis of a Planar Platform, Andrew P. Murray, J. Michael McCarthy
Mechanical and Aerospace Engineering Faculty Publications