{"id":"https://openalex.org/W1971462101","doi":"https://doi.org/10.1002/rob.4620090806","title":"Explicit dynamic equations for a chain of flexible links","display_name":"Explicit dynamic equations for a chain of flexible links","publication_year":1992,"publication_date":"1992-12-01","ids":{"openalex":"https://openalex.org/W1971462101","doi":"https://doi.org/10.1002/rob.4620090806","mag":"1971462101"},"language":"en","primary_location":{"id":"doi:10.1002/rob.4620090806","is_oa":false,"landing_page_url":"https://doi.org/10.1002/rob.4620090806","pdf_url":null,"source":{"id":"https://openalex.org/S6068926","display_name":"Journal of Robotic Systems","issn_l":"0741-2223","issn":["0741-2223","1097-4563"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Robotic Systems","raw_type":"journal-article"},"type":"article","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/A5103392823","display_name":"Zhongping Deng","orcid":null},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zhongping Deng","raw_affiliation_strings":["Department of Engineering Mechanics Tsinghua University Beijing 100084, P.R.C","Department of Engineering Mechanics, Tsinghua University, Beijing 100084, P. R. C"],"affiliations":[{"raw_affiliation_string":"Department of Engineering Mechanics Tsinghua University Beijing 100084, P.R.C","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"Department of Engineering Mechanics, Tsinghua University, Beijing 100084, P. R. C","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100402251","display_name":"Liping Wang","orcid":"https://orcid.org/0000-0001-9398-4157"},"institutions":[{"id":"https://openalex.org/I4210161752","display_name":"Beijing Haidian Hospital","ror":"https://ror.org/058x5eq06","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I4210161752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Liping Wang","raw_affiliation_strings":["Haidian Institute of Invention of Technology Beijing, P.R.C"],"affiliations":[{"raw_affiliation_string":"Haidian Institute of Invention of Technology Beijing, P.R.C","institution_ids":["https://openalex.org/I4210161752"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5103392823"],"corresponding_institution_ids":["https://openalex.org/I99065089"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.14828833,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"9","issue":"8","first_page":"1083","last_page":"1094"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9990000128746033,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9990000128746033,"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":0.9973000288009644,"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/T12206","display_name":"Vibration and Dynamic Analysis","score":0.996399998664856,"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/chain","display_name":"Chain (unit)","score":0.8143907785415649},{"id":"https://openalex.org/keywords/payload","display_name":"Payload (computing)","score":0.7926914691925049},{"id":"https://openalex.org/keywords/dynamic-equation","display_name":"Dynamic equation","score":0.7004587650299072},{"id":"https://openalex.org/keywords/lagrangian","display_name":"Lagrangian","score":0.6229891777038574},{"id":"https://openalex.org/keywords/boundary","display_name":"Boundary (topology)","score":0.5482025146484375},{"id":"https://openalex.org/keywords/dynamics","display_name":"Dynamics (music)","score":0.4692060351371765},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4678384065628052},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.3585919141769409},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3483617305755615},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.33575356006622314},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.32895076274871826},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.2025611698627472},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.19435971975326538},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.09011703729629517},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.08097267150878906}],"concepts":[{"id":"https://openalex.org/C199185054","wikidata":"https://www.wikidata.org/wiki/Q552299","display_name":"Chain (unit)","level":2,"score":0.8143907785415649},{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.7926914691925049},{"id":"https://openalex.org/C2989370511","wikidata":"https://www.wikidata.org/wiki/Q18381590","display_name":"Dynamic equation","level":3,"score":0.7004587650299072},{"id":"https://openalex.org/C53469067","wikidata":"https://www.wikidata.org/wiki/Q505735","display_name":"Lagrangian","level":2,"score":0.6229891777038574},{"id":"https://openalex.org/C62354387","wikidata":"https://www.wikidata.org/wiki/Q875399","display_name":"Boundary (topology)","level":2,"score":0.5482025146484375},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.4692060351371765},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4678384065628052},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.3585919141769409},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3483617305755615},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.33575356006622314},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.32895076274871826},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.2025611698627472},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.19435971975326538},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.09011703729629517},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.08097267150878906},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.0},{"id":"https://openalex.org/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"score":0.0},{"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1002/rob.4620090806","is_oa":false,"landing_page_url":"https://doi.org/10.1002/rob.4620090806","pdf_url":null,"source":{"id":"https://openalex.org/S6068926","display_name":"Journal of Robotic Systems","issn_l":"0741-2223","issn":["0741-2223","1097-4563"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Robotic Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W1971066323","https://openalex.org/W1983482413","https://openalex.org/W1990808398","https://openalex.org/W2001821032","https://openalex.org/W2082431658","https://openalex.org/W2087558621","https://openalex.org/W2101649888","https://openalex.org/W2134813336","https://openalex.org/W2143734999","https://openalex.org/W2166873007"],"related_works":["https://openalex.org/W1535080110","https://openalex.org/W306312984","https://openalex.org/W857189463","https://openalex.org/W2979675132","https://openalex.org/W2790520092","https://openalex.org/W4306309337","https://openalex.org/W20648474","https://openalex.org/W2109516765","https://openalex.org/W4288094128","https://openalex.org/W1971462101"],"abstract_inverted_index":{"Abstract":[0],"A":[1],"D'Alembert\u2010Lagrangian":[2],"approach":[3,28],"is":[4,29],"developed":[5,30],"for":[6,21,31,44],"the":[7,27,38],"dynamics":[8],"of":[9,12,36],"a":[10,45,52],"chain":[11,46],"flexible":[13,49],"links.":[14],"The":[15],"governing":[16],"equations":[17,40],"and":[18,51],"boundary":[19],"conditions":[20],"each":[22],"link":[23],"are":[24,41],"derived.":[25],"While":[26],"chains":[32],"with":[33,47],"any":[34],"numbers":[35],"links,":[37],"dynamic":[39],"written":[42],"explicitly":[43],"two":[48],"links":[50],"payload.":[53],"\u00a9":[54],"1992":[55],"John":[56],"Wiley":[57],"&":[58],"Sons,":[59],"Inc.":[60]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}