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Study parametrization is used to determine six independent parameters that characterize the S\u2013PM and the direct kinematics problem is solved by mapping the transformation matrix between the base and the end-effector to a point in \u2119<jats:sup>7<\/jats:sup>. The inverse kinematics problem of the 3-RPS-3-SPR S\u2013PM amounts to find the location of three points on three lines. This problem leads to a minimal octic univariate polynomial with four quadratic factors.<\/jats:p>","DOI":"10.1017\/s0263574718000826","type":"journal-article","created":{"date-parts":[[2018,8,24]],"date-time":"2018-08-24T05:53:44Z","timestamp":1535090024000},"page":"1240-1266","source":"Crossref","is-referenced-by-count":22,"title":["Kinematic analysis of the 3-RPS-3-SPR series\u2013parallel manipulator"],"prefix":"10.1017","volume":"37","author":[{"given":"Abhilash","family":"Nayak","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8736-7870","authenticated-orcid":false,"given":"St\u00e9phane","family":"Caro","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Philippe","family":"Wenger","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2018,8,24]]},"reference":[{"key":"S0263574718000826_ref11","doi-asserted-by":"publisher","DOI":"10.1007\/s11044-009-9145-7"},{"key":"S0263574718000826_ref7","unstructured":"C. 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