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5. Tetik, H., Kalla, R., Kiper, G., Bandyopadhyay, S.: Position Kinematics of a 3- $$\underline{{\rm {R}}}$$ R ̲ RS Parallel Manipulator. Accepted for Presentation at the 21st CISM-IFToMM Symposium on Robot Design, Dynamics, and Control, ROMANSY (2016)