{"id":"https://openalex.org/W1982967394","doi":"https://doi.org/10.4067/s0718-33052007000200004","title":"KINEMATICS ANALYSIS OF A PARALLEL ROBOT WITH A PASSIVE SEGMENT","display_name":"KINEMATICS ANALYSIS OF A PARALLEL ROBOT WITH A PASSIVE SEGMENT","publication_year":2007,"publication_date":"2007-08-01","ids":{"openalex":"https://openalex.org/W1982967394","doi":"https://doi.org/10.4067/s0718-33052007000200004","mag":"1982967394"},"language":"es","primary_location":{"id":"doi:10.4067/s0718-33052007000200004","doi":"https://doi.org/10.4067/s0718-33052007000200004","is_oa":true,"landing_page_url":"https://doi.org/10.4067/s0718-33052007000200004","pdf_url":"http://www.scielo.cl/pdf/ingeniare/v15n2/art04.pdf","source":{"id":"https://openalex.org/S4210222220","display_name":"Ingeniare. Revista chilena de ingenier\u00eda","issn_l":"0718-3291","issn":["0718-3291","0718-3305"],"is_oa":true,"is_in_doaj":true,"is_core":false,"listed_in":["doaj","latindex","norway-1","poland-20","russia-white-list-4","scielo"],"host_organization":"https://openalex.org/P4310315494","host_organization_name":"University of Tarapac\u00e1","host_organization_lineage":["https://openalex.org/P4310315494"],"host_organization_lineage_names":["University of Tarapac\u00e1"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Ingeniare. Revista chilena de ingenier\u00eda","raw_type":"journal-article"},"volume":null,"type":"article","is_traditional":true,"indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"diamond","oa_url":"http://www.scielo.cl/pdf/ingeniare/v15n2/art04.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5021575686","display_name":"Abdelhakim Cherfia","orcid":"https://orcid.org/0000-0002-6348-0588","observed_orcids":["https://orcid.org/0000-0002-6348-0588"]},"institutions":[{"id":"https://openalex.org/I125485651","display_name":"University Fr\u00e8res Mentouri Constantine 1","ror":"https://ror.org/017wv6808","country_code":"DZ","type":"education","lineage":["https://openalex.org/I125485651"]}],"countries":["DZ"],"is_corresponding":false,"raw_author_name":"Abdelhakim Cherfia","raw_affiliation_strings":["Mentouri University, Constantine, Algeria"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mentouri University, Constantine, Algeria","institution_ids":["https://openalex.org/I125485651"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046704302","display_name":"Abdelouahab Zaatri","orcid":"https://orcid.org/0000-0001-7096-1454","observed_orcids":["https://orcid.org/0000-0001-7096-1454"]},"institutions":[{"id":"https://openalex.org/I125485651","display_name":"University Fr\u00e8res Mentouri Constantine 1","ror":"https://ror.org/017wv6808","country_code":"DZ","type":"education","lineage":["https://openalex.org/I125485651"]}],"countries":["DZ"],"is_corresponding":false,"raw_author_name":"Abdelouahab Zaatri","raw_affiliation_strings":["Mentouri University, Constantine, Algeria"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mentouri University, Constantine, Algeria","institution_ids":["https://openalex.org/I125485651"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5069751372","display_name":"Max Giordano","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I70900168","display_name":"Universit\u00e9 Savoie Mont Blanc","ror":"https://ror.org/04gqg1a07","country_code":"FR","type":"education","lineage":["https://openalex.org/I70900168"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Max Giordano","raw_affiliation_strings":["Savoie University, Annecy Cedex, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Savoie University, Annecy Cedex, France","institution_ids":["https://openalex.org/I70900168"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.0381,"has_fulltext":true,"cited_by_count":9,"citation_normalized_percentile":{"value":0.81585642,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":87,"max":93},"biblio":{"volume":"15","issue":"2","first_page":"141","last_page":"148"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.0,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.0,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/parallel-manipulators","display_name":"parallel manipulators","score":0.9490000009536743},{"id":"https://openalex.org/keywords/three-degrees-of-freedom","display_name":"three degrees of freedom","score":0.8629999756813049},{"id":"https://openalex.org/keywords/pure-translation","display_name":"pure translation","score":0.625},{"id":"https://openalex.org/keywords/inverse-jacobian","display_name":"inverse Jacobian","score":0.7279999852180481},{"id":"https://openalex.org/keywords/velocity-analysis","display_name":"velocity analysis","score":0.3569999933242798},{"id":"https://openalex.org/keywords/workspace-analysis","display_name":"workspace analysis","score":0.7829999923706055},{"id":"https://openalex.org/keywords/singularities","display_name":"singularities","score":0.6309999823570251}],"concepts":[{"id":"https://openalex.org/C15708023","wikidata":"https://www.wikidata.org/wiki/Q80083","display_name":"Humanities","level":1,"score":0.8885878324508667},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.4316883087158203},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.28066474199295044}],"mesh":[],"locations_count":8,"locations":[{"id":"doi:10.4067/s0718-33052007000200004","doi":"https://doi.org/10.4067/s0718-33052007000200004","is_oa":true,"landing_page_url":"https://doi.org/10.4067/s0718-33052007000200004","pdf_url":"http://www.scielo.cl/pdf/ingeniare/v15n2/art04.pdf","source":{"id":"https://openalex.org/S4210222220","display_name":"Ingeniare. Revista chilena de ingenier\u00eda","issn_l":"0718-3291","issn":["0718-3291","0718-3305"],"is_oa":true,"is_in_doaj":true,"is_core":false,"listed_in":["doaj","latindex","norway-1","poland-20","russia-white-list-4","scielo"],"host_organization":"https://openalex.org/P4310315494","host_organization_name":"University of Tarapac\u00e1","host_organization_lineage":["https://openalex.org/P4310315494"],"host_organization_lineage_names":["University of Tarapac\u00e1"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Ingeniare. Revista chilena de ingenier\u00eda","raw_type":"journal-article"},{"id":"pmh:oai:scielo:S0718-33052007000200004","doi":null,"is_oa":true,"landing_page_url":"http://www.scielo.cl/scielo.php?script=sci_arttext&pid=S0718-33052007000200004","pdf_url":null,"source":{"id":"https://openalex.org/S4306402641","display_name":"LA Referencia (Red Federada de Repositorios Institucionales de Publicaciones Cient\u00edficas)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I4383465926","host_organization_name":"LA Referencia","host_organization_lineage":["https://openalex.org/I4383465926"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Ingeniare. Revista chilena de ingenier\u00eda v.15 n.2 2007","raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.128.7250","doi":null,"is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.128.7250","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.scielo.cl/pdf/ingeniare/v15n2/art04.pdf","raw_type":"text"},{"id":"pmh:oai:americanae.aecid.es:2885093","doi":null,"is_oa":true,"landing_page_url":"http://americanae.aecid.es/americanae/es/registros/registro.do?tipoRegistro=MTD&idBib=2885093","pdf_url":null,"source":{"id":"https://openalex.org/S4306400786","display_name":"Americanae (AECID Library)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Ingeniare. Revista chilena de ingenier\u00eda v.15 n.2 2007","raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"pmh:oai:doaj.org/article:08f020583d934950b6cc56f410744f6b","doi":null,"is_oa":true,"landing_page_url":"https://doaj.org/article/08f020583d934950b6cc56f410744f6b","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Ingeniare: Revista Chilena de Ingenier\u00eda, Vol 15, Iss 2, Pp 141-148 (2007)","raw_type":"article"},{"id":"pmh:oai:hispana.mcu.es:507408","doi":null,"is_oa":false,"landing_page_url":"http://dialnet.unirioja.es/servlet/oaiart?codigo=2509866","pdf_url":null,"source":{"id":"https://openalex.org/S4377196108","display_name":"Hispana","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Ingeniare: Revista Chilena de Ingenier\u00eda, ISSN 0718-3291, Vol. 15, N\u00ba. 2, 2007, pags. 141-148","raw_type":"text (article)"},{"id":"pmh:oai:redalyc.org:77215204","doi":null,"is_oa":false,"landing_page_url":"https://www.redalyc.org/articulo.oa?id=77215204","pdf_url":null,"source":{"id":"https://openalex.org/S4377196100","display_name":"Redalyc (Universidad Aut\u00f3noma del Estado de M\u00e9xico)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I179647637","host_organization_name":"Universidad Aut\u00f3noma del Estado de M\u00e9xico","host_organization_lineage":["https://openalex.org/I179647637"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Ingeniare. Revista Chilena de Ingenier\u00eda (Chile) Num.2 Vol.15","raw_type":"art\u00edculo cient\u00edfico"},{"id":"mag:2606367168","doi":null,"is_oa":true,"landing_page_url":"https://www.redalyc.org/articulo.oa?id=77215204","pdf_url":null,"source":{"id":"https://openalex.org/S4210222220","display_name":"Ingeniare. Revista chilena de ingenier\u00eda","issn_l":"0718-3291","issn":["0718-3291","0718-3305"],"is_oa":true,"is_in_doaj":true,"is_core":false,"listed_in":["doaj","latindex","norway-1","poland-20","russia-white-list-4","scielo"],"host_organization":"https://openalex.org/P4310315494","host_organization_name":"University of Tarapac\u00e1","host_organization_lineage":["https://openalex.org/P4310315494"],"host_organization_lineage_names":["University of Tarapac\u00e1"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":"Ingeniare. Revista chilena de ingenieri\u0301a","raw_type":null}],"best_oa_location":{"id":"doi:10.4067/s0718-33052007000200004","doi":"https://doi.org/10.4067/s0718-33052007000200004","is_oa":true,"landing_page_url":"https://doi.org/10.4067/s0718-33052007000200004","pdf_url":"http://www.scielo.cl/pdf/ingeniare/v15n2/art04.pdf","source":{"id":"https://openalex.org/S4210222220","display_name":"Ingeniare. Revista chilena de ingenier\u00eda","issn_l":"0718-3291","issn":["0718-3291","0718-3305"],"is_oa":true,"is_in_doaj":true,"is_core":false,"listed_in":["doaj","latindex","norway-1","poland-20","russia-white-list-4","scielo"],"host_organization":"https://openalex.org/P4310315494","host_organization_name":"University of Tarapac\u00e1","host_organization_lineage":["https://openalex.org/P4310315494"],"host_organization_lineage_names":["University of Tarapac\u00e1"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Ingeniare. Revista chilena de ingenier\u00eda","raw_type":"journal-article"},"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W1982967394.pdf","grobid_xml":"https://content.openalex.org/works/W1982967394.grobid-xml"},"referenced_works_count":21,"referenced_works":["https://openalex.org/W140888423","https://openalex.org/W1989224798","https://openalex.org/W1992810839","https://openalex.org/W1999230774","https://openalex.org/W2005513563","https://openalex.org/W2041443031","https://openalex.org/W2054472106","https://openalex.org/W2060143285","https://openalex.org/W2077129956","https://openalex.org/W2093157032","https://openalex.org/W2094384708","https://openalex.org/W2098008157","https://openalex.org/W2106885928","https://openalex.org/W2134768705","https://openalex.org/W2151593038","https://openalex.org/W2226213058","https://openalex.org/W3157102541","https://openalex.org/W4231677138","https://openalex.org/W4236811068","https://openalex.org/W4237411478","https://openalex.org/W4251510365"],"related_works":["https://openalex.org/W2184410533","https://openalex.org/W7020068957","https://openalex.org/W3117753392","https://openalex.org/W1650207366","https://openalex.org/W2325909983","https://openalex.org/W4247491447","https://openalex.org/W7133414929","https://openalex.org/W2925719366","https://openalex.org/W7054727963","https://openalex.org/W7217441142"],"abstract_inverted_index":{"RESUMENEste":[0],"trabajo":[1,75],"presenta":[2],"el":[3,78,108],"modelo":[4,68,81],"geom\u00e9trico":[5,69,82],"de":[6,13,28,64,74,90,101,104,110,113,135],"un":[7,18,26,87,133],"robot":[8,136],"paralelo":[9,137],"con":[10],"tres":[11],"grados":[12],"libertad":[14],"(d.o.f)":[15],"agregados":[16],"a":[17],"segmento":[19],"central":[20],"pasivo":[21],"del":[22,55,67,72,80,123],"PPP.Esta":[23],"estructura":[24],"proporciona":[25],"movimiento":[27],"traslaci\u00f3n":[29],"pura.Tambi\u00e9n":[30],"determinaremos":[31],"las":[32,35,46,50,65],"relaciones":[33,47],"entre":[34,49],"velocidades":[36,51,58],"generalizadas":[37],"y":[38,53,126],"articulares":[39,59],"usando":[40],"la":[41,61,114],"matriz":[42,115],"Jacobiana":[43,116],"inversa.Adem\u00e1s,":[44],"determinamos":[45],"rec\u00edprocas":[48],"cartesianas":[52],"angulares":[54],"end-effector":[56],"v\u00eda":[57],"por":[60,86],"derivaci\u00f3n":[62],"simple":[63],"expresiones":[66],"directo.Una":[70],"determinaci\u00f3n":[71],"espacio":[73,103],"basado":[76],"en":[77,128,138],"an\u00e1lisis":[79,109],"es":[83],"derivado":[84],"seguido":[85],"c\u00e1lculo":[88],"num\u00e9rico":[89],"todos":[91],"los":[92,111,143],"puntos":[93],"que":[94,119],"deben":[95],"alcanzarse":[96],"permitiendo":[97],"una":[98],"visualizaci\u00f3n":[99],"gr\u00e1fica":[100],"tal":[102,129],"trabajo.Por":[105],"otra":[106],"parte,":[107],"coeficientes":[112],"permite":[117],"asegurar":[118],"no":[120],"haya":[121],"singularidades":[122],"tipo":[124],"1":[125],"2":[127],"estructura.Se":[130],"ha":[131],"realizado":[132],"prototipo":[134],"nuestro":[139],"laboratorio":[140],"para":[141],"validar":[142],"modelos":[144],"propuestos.":[145]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-11-10T11:39:43.021295","created_date":"2016-06-24T00:00:00"}