García Murillo, M.A., Núñez Altamirano, D.A., Gallardo Alvarado, J. and Sánchez Alonso, R.E. 2020. Algorithm to determine the volume and shape of constant orientation workspace for parallel robot 2(3-RRPS). IEEE Latin America Transactions. 18, 7 (May 2020), 1156–1163.