19746document3975A passive compliant Gough-Whitehall-Stewart mechanism for peg-hole disassembly - Approximation Model Derivation .pdfapplication/pdf42c2eff863201e722106489acfac8cfdMD55172892022-04-26 11:07:42http://edata.bham.ac.uk/834/1/A%20passive%20compliant%20Gough-Whitehall-Stewart%20mechanism%20for%20peg-hole%20disassembly%20-%20Approximation%20Model%20Derivation%20.pdf