{"id":"https://openalex.org/W2037037246","doi":"https://doi.org/10.4028/www.scientific.net/amr.69-70.575","title":"Torque Transmission Analysis and Design of a 3-DOF Spherical Parallel Manipulator","display_name":"Torque Transmission Analysis and Design of a 3-DOF Spherical Parallel Manipulator","publication_year":2009,"publication_date":"2009-05-01","ids":{"openalex":"https://openalex.org/W2037037246","doi":"https://doi.org/10.4028/www.scientific.net/amr.69-70.575","mag":"2037037246"},"language":"en","primary_location":{"id":"doi:10.4028/www.scientific.net/amr.69-70.575","doi":"https://doi.org/10.4028/www.scientific.net/amr.69-70.575","is_oa":true,"landing_page_url":"https://doi.org/10.4028/www.scientific.net/amr.69-70.575","pdf_url":null,"source":{"id":"https://openalex.org/S67425620","display_name":"Advanced materials research","issn_l":"1022-6680","issn":["1022-6680","1662-8985"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","jufo-1","norway-1"],"host_organization":"https://openalex.org/P4310317839","host_organization_name":"Trans Tech Publications","host_organization_lineage":["https://openalex.org/P4310317839"],"host_organization_lineage_names":["Trans Tech Publications"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Materials Research","raw_type":"journal-article"},"volume":null,"type":"article","is_traditional":true,"indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://doi.org/10.4028/www.scientific.net/amr.69-70.575","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Y.B. Li","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Y.B. Li","raw_affiliation_strings":["Zhejiang University of Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhejiang University of Technology","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102211839","display_name":"Shi Ming Ji","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shi Ming Ji","raw_affiliation_strings":["Zhejiang University of Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhejiang University of Technology","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110040299","display_name":"Qiao Ling Yuan","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qiao Ling Yuan","raw_affiliation_strings":["Zhejiang University of Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhejiang University of Technology","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100425772","display_name":"Li Zhang","orcid":"https://orcid.org/0000-0003-4277-0591","observed_orcids":["https://orcid.org/0000-0003-4277-0591"]},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Li Zhang","raw_affiliation_strings":["Zhejiang University of Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhejiang University of Technology","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044186922","display_name":"Ming Sheng Jin","orcid":"https://orcid.org/0000-0003-3464-0623","observed_orcids":["https://orcid.org/0000-0003-3464-0623"]},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ming Sheng Jin","raw_affiliation_strings":["Zhejiang University of Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhejiang University of Technology","institution_ids":["https://openalex.org/I55712492"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I55712492"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.0,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"69-70","issue":null,"first_page":"575","last_page":"579"},"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/T11525","display_name":"Piezoelectric Actuators and Control","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/spherical-parallel-manipulator","display_name":"spherical parallel manipulator","score":0.9729999899864197},{"id":"https://openalex.org/keywords/3-dof-manipulator","display_name":"3-DOF manipulator","score":0.9580000042915344},{"id":"https://openalex.org/keywords/torque-transmission","display_name":"torque transmission","score":0.9200000166893005},{"id":"https://openalex.org/keywords/static-analysis","display_name":"static analysis","score":0.6840000152587891},{"id":"https://openalex.org/keywords/manipulator-design","display_name":"manipulator design","score":0.5820000171661377}],"concepts":[{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.848029613494873},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6925302743911743},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.4866843819618225},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4705541431903839},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.4299023747444153},{"id":"https://openalex.org/C761482","wikidata":"https://www.wikidata.org/wiki/Q118093","display_name":"Transmission (telecommunications)","level":2,"score":0.4277748763561249},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.4141077697277069},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.38848844170570374},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.38774558901786804},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.2731233835220337},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.17902037501335144},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12214022874832153},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.08831354975700378},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.0774776041507721},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0613369345664978},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.4028/www.scientific.net/amr.69-70.575","doi":"https://doi.org/10.4028/www.scientific.net/amr.69-70.575","is_oa":true,"landing_page_url":"https://doi.org/10.4028/www.scientific.net/amr.69-70.575","pdf_url":null,"source":{"id":"https://openalex.org/S67425620","display_name":"Advanced materials research","issn_l":"1022-6680","issn":["1022-6680","1662-8985"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","jufo-1","norway-1"],"host_organization":"https://openalex.org/P4310317839","host_organization_name":"Trans Tech Publications","host_organization_lineage":["https://openalex.org/P4310317839"],"host_organization_lineage_names":["Trans Tech Publications"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Materials Research","raw_type":"journal-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.967.3708","doi":null,"is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.967.3708","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.scientific.net/AMR.69-70.575.pdf","raw_type":"text"}],"best_oa_location":{"id":"doi:10.4028/www.scientific.net/amr.69-70.575","doi":"https://doi.org/10.4028/www.scientific.net/amr.69-70.575","is_oa":true,"landing_page_url":"https://doi.org/10.4028/www.scientific.net/amr.69-70.575","pdf_url":null,"source":{"id":"https://openalex.org/S67425620","display_name":"Advanced materials research","issn_l":"1022-6680","issn":["1022-6680","1662-8985"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","jufo-1","norway-1"],"host_organization":"https://openalex.org/P4310317839","host_organization_name":"Trans Tech Publications","host_organization_lineage":["https://openalex.org/P4310317839"],"host_organization_lineage_names":["Trans Tech Publications"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Materials Research","raw_type":"journal-article"},"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W2347453998","https://openalex.org/W2115328722","https://openalex.org/W6922525901","https://openalex.org/W2505487770","https://openalex.org/W3168126346","https://openalex.org/W1622489851","https://openalex.org/W4231618195","https://openalex.org/W894563","https://openalex.org/W2122138688","https://openalex.org/W203850661"],"abstract_inverted_index":{"Static":[0],"analysis":[1],"plays":[2],"an":[3,91],"important":[4],"role":[5],"on":[6,56],"the":[7,21,32,41,47,57,69,73,76,84,96,104,113,116,128,132,137],"design":[8,93],"and":[9,37,46,61,131,144],"applications":[10,114],"of":[11,20,34,75,95,115],"manipulator.":[12,119],"In":[13],"this":[14],"paper,":[15],"The":[16,120],"torque":[17,42,49,58,86],"balance":[18,59],"equations":[19],"spherical":[22,77,97,117,121],"3-DOF":[23,78,98,118,122],"manipulator":[24,79,99,123],"was":[25,100],"derived":[26],"in":[27,63,135],"closed":[28],"forms":[29],"by":[30,67],"analyzing":[31],"relationship":[33],"its":[35],"input":[36],"output":[38],"torques,":[39],"then":[40],"transmission":[43,50,87],"evaluation":[44,51,88],"index":[45,52],"global":[48,85],"were":[53,80],"defined":[54],"based":[55,82],"equation":[60],"discussed":[62],"detail,":[64],"at":[65],"last,":[66],"using":[68],"physical":[70],"model":[71],"technique,":[72],"parameters":[74],"optimized":[81],"upon":[83],"index.":[89],"Moreover,":[90],"integrated":[92],"scheme":[94],"confirmed":[101],"when":[102],"satisfied":[103],"assembly":[105],"conditions,":[106],"which":[107,136],"can":[108,124],"provide":[109],"theoretical":[110],"base":[111],"for":[112,139],"be":[125],"used":[126],"as":[127],"waist,":[129],"wrist":[130],"ultra-precision":[133],"machine":[134],"requirements":[138],"high":[140,142],"stiffness,":[141],"accuracy":[143],"good":[145],"technological":[146],"efficiency.":[147]},"counts_by_year":[],"updated_date":"2026-11-04T10:54:05.112534","created_date":"2016-06-24T00:00:00"}