Francisco Cuenca-Jiménez, Eusebio Jiménez López, Mario Acosta Flores, F. Peñuñuri, Ricardo Peón-Escalante, Juan José Delfín Vázquez: Methodology for Modeling Coupled Rigid Multibody Systems Using Unitary Quaternions: The Case of Planar RRR and Spatial PRRS Parallel Robots. Robotics 14(7): 94 (2025)