H. Asada and J. Granito, Kinematic and static characterization of wrist joints and their optimal design, Proceedings. 1985 IEEE International Conference on Robotics and Automation, pp.244-250, 1985.
DOI : 10.1109/ROBOT.1985.1087324

S. F. Asokanthan and M. C. Hwang, Torsional Instabilities in a System Incorporating a Hooke???s Joint, Journal of Vibration and Acoustics, vol.277, issue.3, 1996.
DOI : 10.1080/03601218608907514

G. Bulut and Z. Parlar, Dynamic stability of a shaft system connected through a Hooke's joint, Mechanism and Machine Theory, vol.46, issue.11, pp.1689-1695, 2011.
DOI : 10.1016/j.mechmachtheory.2011.06.012

S. I. Chang, TORSIONAL INSTABILITIES AND NON-LINEAR OSCILLATION OF A SYSTEM INCORPORATING A HOOKE'S JOINT, Journal of Sound and Vibration, vol.229, issue.4, pp.993-1002, 2000.
DOI : 10.1006/jsvi.1999.2507

C. Chicone, Ordinary Differential Equations with Applications, 2006.

H. A. Desmidt, K. W. Wang, E. C. Smith, V. A. Nyrko, R. M. Eidinov et al., Coupled Torsion-Lateral Stability of a Shaft-Disk System Driven Through a Universal Joint, Journal of Applied Mechanics, vol.32, issue.3, pp.261-273, 1976.
DOI : 10.1115/1.3625809

G. Floquet, Sur leséquationsles´leséquations différentielles linéaireslinéaires`linéairesà coefficients périodiques, pp.47-88, 1883.

C. M. Gosselin and J. F. Hamel, The agile eye: a high-performance three-degree-of-freedom camera-orienting device, Proceedings of the 1994 IEEE International Conference on Robotics and Automation, pp.781-786, 1994.
DOI : 10.1109/ROBOT.1994.351393

H. Ota, M. K. Sugita, and H. , Lateral Vibrations of a Rotating Shaft Driven by a Universal Joint : 1st Report, Generation of Even Multiple Vibrations by Secondary Moment, Bulletin of JSME, vol.27, issue.231, pp.2002-2007, 1984.
DOI : 10.1299/jsme1958.27.2002

T. Kotera, Instability of torsional vibrations of a system with a cardan joint, pp.19-30, 1980.

T. Li and S. Payandeh, Design of spherical parallel mechanisms for application to laparoscopic surgery, Robotica, vol.20, issue.02, pp.133-138, 2002.
DOI : 10.1017/S0263574701003873

B. Porter, A Theoretical Analysis of the Torsional Oscillation of a System Incorporating a Hooke's Joint, Journal of Mechanical Engineering Science, vol.3, issue.4, pp.324-329, 1961.
DOI : 10.24033/asens.220

B. Porter and R. W. Gregory, Non-Linear Torsional Oscillation of a System Incorporating a Hooke's Joint, Journal of Mechanical Engineering Science, vol.38, issue.5, pp.191-209, 1963.
DOI : 10.1021/ie50595a033

M. Saigo, Y. Okada, and K. Ono, Self-excited Vibration Caused by Internal Friction in Universal Joints and Its Stabilizing Method, Journal of Vibration and Acoustics, vol.46, issue.2, pp.221-229, 1997.
DOI : 10.1299/kikaic.46.806

R. Szymkiewicz, Numerical Solution of Ordinary Differential Equations, 1971.
DOI : 10.1007/978-90-481-3674-2_3

G. Wu, S. Bai, and J. Kepler, Mobile platform center shift in spherical parallel manipulators with flexible limbs, Mechanism and Machine Theory, vol.75, pp.12-26, 2014.
DOI : 10.1016/j.mechmachtheory.2014.01.001

G. Wu, S. Caro, S. Bai, and J. Kepler, Dynamic modeling and design optimization of a 3-DOF spherical parallel manipulator, Robotics and Autonomous Systems, vol.62, issue.10, pp.1377-1386, 2014.
DOI : 10.1016/j.robot.2014.06.006

URL : https://hal.archives-ouvertes.fr/hal-01084693

G. Wu, S. Caro, and J. Wang, Design and transmission analysis of an asymmetrical spherical parallel manipulator, Mechanism and Machine Theory, vol.94, pp.119-131, 2015.
DOI : 10.1016/j.mechmachtheory.2015.07.012

URL : https://hal.archives-ouvertes.fr/hal-01757286

V. Zeman, Dynamik der Drehsysteme mit Kardangelenken, Mechanism and Machine Theory, vol.13, issue.2, pp.107-118, 1978.
DOI : 10.1016/0094-114X(78)90035-6