{"id":"https://openalex.org/W4387906200","doi":"https://doi.org/10.1177/09544062231198924","title":"A design of 2-DoFs spherical parallel manipulator with adjustable workspace","display_name":"A design of 2-DoFs spherical parallel manipulator with adjustable workspace","publication_year":2023,"publication_date":"2023-10-24","ids":{"openalex":"https://openalex.org/W4387906200","doi":"https://doi.org/10.1177/09544062231198924"},"language":"en","primary_location":{"id":"doi:10.1177/09544062231198924","doi":"https://doi.org/10.1177/09544062231198924","is_oa":false,"landing_page_url":"https://doi.org/10.1177/09544062231198924","pdf_url":null,"source":{"id":"https://openalex.org/S164426212","display_name":"Proceedings of the Institution of Mechanical Engineers Part C Journal of Mechanical Engineering Science","issn_l":"0263-7154","issn":["0263-7154","0954-4062","2041-2983","2058-3397"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","dongbi-d","jufo-1","norway-1","poland-70","russia-white-list-2"],"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science","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/A5100694008","display_name":"Sooyoung Kim","orcid":"https://orcid.org/0000-0002-8616-959X","observed_orcids":["https://orcid.org/0000-0002-8616-959X"]},"institutions":[{"id":"https://openalex.org/I24456540","display_name":"Korea Aerospace University","ror":"https://ror.org/05jmm0651","country_code":"KR","type":"education","lineage":["https://openalex.org/I24456540"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Sooyoung Kim","raw_affiliation_strings":["School of Aerospace and Mechanical Engineering, Korea Aerospace University, Goyang-si, Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Aerospace and Mechanical Engineering, Korea Aerospace University, Goyang-si, Republic of Korea","institution_ids":["https://openalex.org/I24456540"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008168685","display_name":"Seonggun Joe","orcid":"https://orcid.org/0000-0002-4290-7570","observed_orcids":["https://orcid.org/0000-0002-4290-7570"]},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Seonggun Joe","raw_affiliation_strings":["Soft Biorobotics Perception, Istituto Italiano di Tecnologia, Genova, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Soft Biorobotics Perception, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5092573831","display_name":"Anderson B. Nardin","orcid":"https://orcid.org/0000-0002-2307-3443","observed_orcids":["https://orcid.org/0000-0002-2307-3443"]},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]},{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Anderson B. Nardin","raw_affiliation_strings":["Soft Biorobotics Perception, Istituto Italiano di Tecnologia, Genova, Italy","The BioRobotics Institute, Scuola Superiore Sant\u2019Anna, Pontedera, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Soft Biorobotics Perception, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"The BioRobotics Institute, Scuola Superiore Sant\u2019Anna, Pontedera, Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5049516631","display_name":"Byungkyu Kim","orcid":"https://orcid.org/0000-0002-2659-6952","observed_orcids":["https://orcid.org/0000-0002-2659-6952"]},"institutions":[{"id":"https://openalex.org/I24456540","display_name":"Korea Aerospace University","ror":"https://ror.org/05jmm0651","country_code":"KR","type":"education","lineage":["https://openalex.org/I24456540"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Byungkyu Kim","raw_affiliation_strings":["School of Aerospace and Mechanical Engineering, Korea Aerospace University, Goyang-si, Republic of Korea"],"raw_orcid":"https://orcid.org/0000-0002-2659-6952","affiliations":[{"raw_affiliation_string":"School of Aerospace and Mechanical Engineering, Korea Aerospace University, Goyang-si, Republic of Korea","institution_ids":["https://openalex.org/I24456540"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5049516631"],"corresponding_institution_ids":["https://openalex.org/I24456540"],"apc_list":{"value":3750,"currency":"USD","value_usd":3750},"apc_paid":null,"fwci":0.2617,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.41712035,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":88,"max":95},"biblio":{"volume":"238","issue":"8","first_page":"3404","last_page":"3414"},"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/spherical-parallel-manipulator","display_name":"spherical parallel manipulator","score":0.984000027179718},{"id":"https://openalex.org/keywords/2-dof-manipulator","display_name":"2-DOF manipulator","score":0.8980000019073486},{"id":"https://openalex.org/keywords/singularity-avoidance","display_name":"singularity avoidance","score":0.6620000004768372},{"id":"https://openalex.org/keywords/screw-theory","display_name":"screw theory","score":0.6819999814033508},{"id":"https://openalex.org/keywords/dimensional-synthesis","display_name":"dimensional synthesis","score":0.9120000004768372},{"id":"https://openalex.org/keywords/dimensionless-parameters","display_name":"dimensionless parameters","score":0.8970000147819519},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"inverse kinematics","score":0.8220000267028809},{"id":"https://openalex.org/keywords/parallel-manipulator-design","display_name":"parallel manipulator design","score":0.546999990940094}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.903152346611023},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6669973134994507},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6183182597160339},{"id":"https://openalex.org/C16171025","wikidata":"https://www.wikidata.org/wiki/Q863349","display_name":"Singularity","level":2,"score":0.5777406096458435},{"id":"https://openalex.org/C18788176","wikidata":"https://www.wikidata.org/wiki/Q7891441","display_name":"Screw theory","level":3,"score":0.5687465667724609},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.5362673401832581},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.4878807067871094},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4712912142276764},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.41204142570495605},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4022027254104614},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.29928338527679443},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21591514348983765},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.1596953272819519},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.15483492612838745},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15448954701423645},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0888882577419281},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.08697637915611267},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical 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/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/09544062231198924","doi":"https://doi.org/10.1177/09544062231198924","is_oa":false,"landing_page_url":"https://doi.org/10.1177/09544062231198924","pdf_url":null,"source":{"id":"https://openalex.org/S164426212","display_name":"Proceedings of the Institution of Mechanical Engineers Part C Journal of Mechanical Engineering Science","issn_l":"0263-7154","issn":["0263-7154","0954-4062","2041-2983","2058-3397"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","dongbi-d","jufo-1","norway-1","poland-70","russia-white-list-2"],"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"study_designs":[],"awards":[{"id":"https://openalex.org/G3913574335","display_name":null,"funder_award_id":"The Korea Health Technology R&D Project/HI19C0664","funder_id":"https://openalex.org/F4320322034","funder_display_name":"Ministry of Health and Welfare"}],"funders":[{"id":"https://openalex.org/F4320322034","display_name":"Ministry of Health and Welfare","ror":"https://ror.org/00vxgjw72"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W132913543","https://openalex.org/W1571501561","https://openalex.org/W2001844647","https://openalex.org/W2005028074","https://openalex.org/W2014374061","https://openalex.org/W2026951291","https://openalex.org/W2033222022","https://openalex.org/W2066309255","https://openalex.org/W2075455446","https://openalex.org/W2111455515","https://openalex.org/W2112744387","https://openalex.org/W2146097584","https://openalex.org/W2148293860","https://openalex.org/W2347749042","https://openalex.org/W2547363614","https://openalex.org/W2560059627","https://openalex.org/W2586911680","https://openalex.org/W2603634642","https://openalex.org/W2722960252","https://openalex.org/W2767390858","https://openalex.org/W2769189505","https://openalex.org/W2792095334","https://openalex.org/W2806096297","https://openalex.org/W2885174778","https://openalex.org/W2914571689","https://openalex.org/W3003785437","https://openalex.org/W3146485235","https://openalex.org/W4234497146"],"related_works":["https://openalex.org/W2103621844","https://openalex.org/W4402067550","https://openalex.org/W2134442769","https://openalex.org/W4251420516","https://openalex.org/W2017420452","https://openalex.org/W4256462628","https://openalex.org/W4225493881","https://openalex.org/W2042573223","https://openalex.org/W2115310954","https://openalex.org/W4396542315"],"abstract_inverted_index":{"Spherical":[0],"parallel":[1],"manipulators":[2],"(SPMs)":[3],"have":[4],"promising":[5],"industrial":[6],"applications":[7],"due":[8,39],"to":[9,40],"their":[10],"strong":[11],"mechanical":[12,113],"performance.":[13],"However,":[14],"they":[15],"face":[16],"challenges":[17,55],"such":[18],"as":[19],"singularity":[20,41],"avoidance,":[21],"tight":[22],"tolerance":[23],"manufacturing":[24],"requirements,":[25],"and":[26,31,42,66,87,120,132,148],"the":[27,104,153,157,161],"need":[28],"for":[29,99,118,134],"versatile":[30],"dexterous":[32],"end-effector":[33],"functionalities.":[34],"Additionally,":[35],"SPMs":[36],"lack":[37],"customizability":[38,117],"collision":[43,93],"issues.":[44],"This":[45,96],"work":[46],"introduces":[47],"a":[48,77,84,89,121,144],"novel":[49],"design":[50,97,114],"principle":[51],"that":[52,80,142],"addresses":[53],"these":[54],"by":[56],"benchmarking":[57],"two":[58],"analytical":[59],"methods:":[60],"structural":[61],"synthesis":[62,68],"using":[63,69,146],"screw":[64],"theory":[65],"dimensional":[67],"dimensionless":[70],"parameters.":[71],"A":[72],"proof":[73],"of":[74,76,128,164],"concept":[75],"2-DoF":[78],"SPM":[79],"can":[81],"operate":[82],"within":[83],"cylindrical":[85],"constraint":[86],"realize":[88],"full":[90],"workspace":[91,102],"without":[92],"is":[94,130,140],"presented.":[95],"allows":[98],"adjustable":[100],"reachable":[101],"at":[103,156],"end-effector,":[105],"despite":[106],"significant":[107],"geometric":[108],"constraints.":[109],"These":[110],"findings":[111],"on":[112],"solutions":[115],"provide":[116],"SPMs,":[119],"3D":[122],"model":[123,151],"with":[124,160],"an":[125],"aspect":[126],"ratio":[127],"1/12":[129],"presented":[131],"discussed":[133],"potential":[135],"practical":[136],"applications.":[137],"Overall,":[138],"it":[139],"identified":[141],"both":[143],"simulation":[145],"Recurdyn":[147],"inverse":[149],"kinematic":[150],"show":[152],"desired":[154],"movements":[155],"moving":[158],"platform":[159],"maximum":[162],"error":[163],"0.0013\u00b0.":[165]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1}],"updated_date":"2026-10-30T12:39:25.321706","created_date":"2023-10-25T00:00:00"}