@article {megahed1989force,
	title = {Force analysis of robot manipulators},
	journal = {Proceedings of the Institution of Mechanical Engineers, Part B: Journal of Engineering Manufacture},
	volume = {203},
	number = {4},
	year = {1989},
	note = {n/a},
	pages = {217{\textendash}232},
	publisher = {SAGE Publications},
	abstract = {n/a},
	author = {S. M. Megahed}
}
