Kinematics and Singularity Analysis of 2 DOF Planar Parallel Manipulators with Symmetrical Parallelogram Chains. JTM [Internet]. 31 Oktober 2020 [dikutip 18 Agustus 2025];10(2):79-87. Tersedia pada: https://jtm.itp.ac.id/index.php/jtm/article/view/375