{"id":"https://openalex.org/W2005134912","doi":"https://doi.org/10.1016/j.precisioneng.2009.01.003","title":"Design and forward kinematics of the compliant micro-manipulator with lever mechanisms","display_name":"Design and forward kinematics of the compliant micro-manipulator with lever mechanisms","publication_year":2009,"publication_date":"2009-02-17","ids":{"openalex":"https://openalex.org/W2005134912","doi":"https://doi.org/10.1016/j.precisioneng.2009.01.003","mag":"2005134912"},"language":"en","primary_location":{"id":"doi:10.1016/j.precisioneng.2009.01.003","doi":"https://doi.org/10.1016/j.precisioneng.2009.01.003","is_oa":false,"landing_page_url":"https://doi.org/10.1016/j.precisioneng.2009.01.003","pdf_url":null,"source":{"id":"https://openalex.org/S140928716","display_name":"Precision Engineering","issn_l":"0141-6359","issn":["0141-6359","1873-2372"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["anvur-scientific","cwts-core","dongbi-b","jufo-1","norway-1","poland-200","russia-white-list-1"],"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Precision Engineering","raw_type":"journal-article"},"volume":null,"type":"article","is_traditional":true,"indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5112528504","display_name":"Yan Tian","orcid":"https://orcid.org/0000-0002-2502-686X","observed_orcids":["https://orcid.org/0000-0002-2502-686X"]},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]},{"id":"https://openalex.org/I56590836","display_name":"Monash University","ror":"https://ror.org/02bfwt286","country_code":"AU","type":"education","lineage":["https://openalex.org/I56590836"]}],"countries":["AU","CN"],"is_corresponding":true,"raw_author_name":"Y. Tian","raw_affiliation_strings":["Robotics and Mechatronics Research Laboratory, Department of Mechanical and Aerospace Engineering, Monash University, Clayton, VIC 3800, Australia","School of Mechanical Engineering, Tianjin University, Tianjin 300072, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics and Mechatronics Research Laboratory, Department of Mechanical and Aerospace Engineering, Monash University, Clayton, VIC 3800, Australia","institution_ids":["https://openalex.org/I56590836"]},{"raw_affiliation_string":"School of Mechanical Engineering, Tianjin University, Tianjin 300072, China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024108787","display_name":"B. Shirinzadeh","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I56590836","display_name":"Monash University","ror":"https://ror.org/02bfwt286","country_code":"AU","type":"education","lineage":["https://openalex.org/I56590836"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"B. Shirinzadeh","raw_affiliation_strings":["Robotics and Mechatronics Research Laboratory, Department of Mechanical and Aerospace Engineering, Monash University, Clayton, VIC 3800, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics and Mechatronics Research Laboratory, Department of Mechanical and Aerospace Engineering, Monash University, Clayton, VIC 3800, Australia","institution_ids":["https://openalex.org/I56590836"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047099684","display_name":"D. Zhang","orcid":"https://orcid.org/0000-0002-5744-7730","observed_orcids":["https://orcid.org/0000-0002-5744-7730"]},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"D. Zhang","raw_affiliation_strings":["School of Mechanical Engineering, Tianjin University, Tianjin 300072, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Tianjin University, Tianjin 300072, China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065545987","display_name":"Xianping Liu","orcid":"https://orcid.org/0000-0002-9311-4415","observed_orcids":["https://orcid.org/0000-0002-9311-4415","https://orcid.org/0009-0003-9589-6259"]},"institutions":[{"id":"https://openalex.org/I39555362","display_name":"University of Warwick","ror":"https://ror.org/01a77tt86","country_code":"GB","type":"education","lineage":["https://openalex.org/I39555362"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"X. Liu","raw_affiliation_strings":["School of Engineering, University of Warwick, Coventry CV4 7AL, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Engineering, University of Warwick, Coventry CV4 7AL, UK","institution_ids":["https://openalex.org/I39555362"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048222216","display_name":"D.G. Chetwynd","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I39555362","display_name":"University of Warwick","ror":"https://ror.org/01a77tt86","country_code":"GB","type":"education","lineage":["https://openalex.org/I39555362"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"D. Chetwynd","raw_affiliation_strings":["School of Engineering, University of Warwick, Coventry CV4 7AL, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Engineering, University of Warwick, Coventry CV4 7AL, UK","institution_ids":["https://openalex.org/I39555362"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5112528504"],"corresponding_institution_ids":["https://openalex.org/I162868743","https://openalex.org/I56590836"],"apc_list":{"value":3340,"currency":"USD","value_usd":3340},"apc_paid":null,"fwci":4.5892,"has_fulltext":false,"cited_by_count":71,"citation_normalized_percentile":{"value":0.93655104,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":88,"max":99},"biblio":{"volume":"33","issue":"4","first_page":"466","last_page":"475"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11525","display_name":"Piezoelectric Actuators and Control","score":0.7470999956130981,"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/T11525","display_name":"Piezoelectric Actuators and Control","score":0.7470999956130981,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.24560000002384186,"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/T10369","display_name":"Advanced MEMS and NEMS Technologies","score":0.003100000089034438,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/forward-kinematics","display_name":"forward kinematics","score":0.8980000019073486},{"id":"https://openalex.org/keywords/lever-mechanism","display_name":"lever mechanism","score":0.8019999861717224},{"id":"https://openalex.org/keywords/flexure-mechanisms","display_name":"flexure mechanisms","score":0.8399999737739563},{"id":"https://openalex.org/keywords/piezoelectric-actuators","display_name":"piezoelectric actuators","score":0.996999979019165},{"id":"https://openalex.org/keywords/displacement-amplification","display_name":"displacement amplification","score":0.7049999833106995},{"id":"https://openalex.org/keywords/four-bar-linkage","display_name":"four-bar linkage","score":0.8970000147819519},{"id":"https://openalex.org/keywords/end-effector-velocity","display_name":"end-effector velocity","score":0.8550000190734863},{"id":"https://openalex.org/keywords/jacobian-matrix","display_name":"Jacobian matrix","score":0.8029999732971191},{"id":"https://openalex.org/keywords/geometric-parameter-optimization","display_name":"geometric parameter optimization","score":0.7789999842643738},{"id":"https://openalex.org/keywords/micropositioning","display_name":"micro-positioning","score":0.6819999814033508}],"concepts":[{"id":"https://openalex.org/C107524782","wikidata":"https://www.wikidata.org/wiki/Q40164","display_name":"Lever","level":2,"score":0.8246729969978333},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7641031742095947},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6492763757705688},{"id":"https://openalex.org/C122920182","wikidata":"https://www.wikidata.org/wiki/Q2102938","display_name":"Four-bar linkage","level":3,"score":0.5566012859344482},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.5238449573516846},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5176289677619934},{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.5018928050994873},{"id":"https://openalex.org/C160970401","wikidata":"https://www.wikidata.org/wiki/Q1423222","display_name":"Forward kinematics","level":4,"score":0.49747756123542786},{"id":"https://openalex.org/C204172952","wikidata":"https://www.wikidata.org/wiki/Q6410697","display_name":"Kinematics equations","level":5,"score":0.48805510997772217},{"id":"https://openalex.org/C188721877","wikidata":"https://www.wikidata.org/wiki/Q103510","display_name":"Bar (unit)","level":2,"score":0.4613476097583771},{"id":"https://openalex.org/C79772673","wikidata":"https://www.wikidata.org/wiki/Q5156643","display_name":"Compliant mechanism","level":3,"score":0.45715707540512085},{"id":"https://openalex.org/C107551265","wikidata":"https://www.wikidata.org/wiki/Q1458245","display_name":"Displacement (psychology)","level":2,"score":0.4482753276824951},{"id":"https://openalex.org/C16038011","wikidata":"https://www.wikidata.org/wiki/Q62912","display_name":"Cartesian coordinate system","level":2,"score":0.44542375206947327},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.41307756304740906},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.38763126730918884},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.3853301703929901},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.36448150873184204},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2534419894218445},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.24709552526474},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.2462455928325653},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.18191289901733398},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1585732400417328},{"id":"https://openalex.org/C135628077","wikidata":"https://www.wikidata.org/wiki/Q220184","display_name":"Finite element method","level":2,"score":0.12922003865242004},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12416496872901917},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.12406843900680542},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.09030076861381531},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.08854329586029053},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C44000306","wikidata":"https://www.wikidata.org/wiki/Q244330","display_name":"Hinge","level":2,"score":0.0},{"id":"https://openalex.org/C542102704","wikidata":"https://www.wikidata.org/wiki/Q183257","display_name":"Psychotherapist","level":1,"score":0.0},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C153294291","wikidata":"https://www.wikidata.org/wiki/Q25261","display_name":"Meteorology","level":1,"score":0.0},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1016/j.precisioneng.2009.01.003","doi":"https://doi.org/10.1016/j.precisioneng.2009.01.003","is_oa":false,"landing_page_url":"https://doi.org/10.1016/j.precisioneng.2009.01.003","pdf_url":null,"source":{"id":"https://openalex.org/S140928716","display_name":"Precision Engineering","issn_l":"0141-6359","issn":["0141-6359","1873-2372"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["anvur-scientific","cwts-core","dongbi-b","jufo-1","norway-1","poland-200","russia-white-list-1"],"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Precision Engineering","raw_type":"journal-article"},{"id":"pmh:oai:wrap.warwick.ac.uk:17421","doi":null,"is_oa":false,"landing_page_url":"http://wrap.warwick.ac.uk/17421/1/WRAP_Liu_preeng_forward_final.pdf","pdf_url":"http://wrap.warwick.ac.uk/17421/1/WRAP_Liu_preeng_forward_final.pdf","source":{"id":"https://openalex.org/S4306400665","display_name":"Warwick Research Archive Portal (University of Warwick)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I39555362","host_organization_name":"University of Warwick","host_organization_lineage":["https://openalex.org/I39555362"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"","raw_type":"Journal Article"}],"best_oa_location":null,"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":45,"referenced_works":["https://openalex.org/W95723647","https://openalex.org/W139131351","https://openalex.org/W1964971748","https://openalex.org/W1970394933","https://openalex.org/W1973909938","https://openalex.org/W1974985258","https://openalex.org/W1978099668","https://openalex.org/W1981660513","https://openalex.org/W1984539872","https://openalex.org/W1985513069","https://openalex.org/W1994335858","https://openalex.org/W1998668678","https://openalex.org/W2001556200","https://openalex.org/W2005803817","https://openalex.org/W2005830757","https://openalex.org/W2009997311","https://openalex.org/W2011159904","https://openalex.org/W2015577181","https://openalex.org/W2019819614","https://openalex.org/W2021080193","https://openalex.org/W2034839870","https://openalex.org/W2037908975","https://openalex.org/W2049463183","https://openalex.org/W2055977171","https://openalex.org/W2062691475","https://openalex.org/W2066844661","https://openalex.org/W2070368030","https://openalex.org/W2070490364","https://openalex.org/W2075536441","https://openalex.org/W2077497359","https://openalex.org/W2081233035","https://openalex.org/W2082657378","https://openalex.org/W2083314906","https://openalex.org/W2088751074","https://openalex.org/W2088763232","https://openalex.org/W2091418584","https://openalex.org/W2092509380","https://openalex.org/W2102170685","https://openalex.org/W2118468994","https://openalex.org/W2142339020","https://openalex.org/W2144113061","https://openalex.org/W2166996998","https://openalex.org/W2169164876","https://openalex.org/W2227355791","https://openalex.org/W6681354415"],"related_works":["https://openalex.org/W1554665443","https://openalex.org/W2138253783","https://openalex.org/W2154176637","https://openalex.org/W2149293046","https://openalex.org/W2784063490","https://openalex.org/W2241074433","https://openalex.org/W2211659073","https://openalex.org/W1491517177","https://openalex.org/W4226003942","https://openalex.org/W3184555236"],"abstract_inverted_index":null,"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":7},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":8},{"year":2016,"cited_by_count":5},{"year":2015,"cited_by_count":8},{"year":2014,"cited_by_count":7},{"year":2013,"cited_by_count":10},{"year":2012,"cited_by_count":3}],"updated_date":"2026-11-07T11:25:07.637180","created_date":"2016-06-24T00:00:00"}
