{"id":"https://openalex.org/W2026313751","doi":"https://doi.org/10.1017/s0263574704000050","title":"Stiffness Analysis and Design of a Compact Modified Delta Parallel Mechanism","display_name":"Stiffness Analysis and Design of a Compact Modified Delta Parallel Mechanism","publication_year":2004,"publication_date":"2004-07-12","ids":{"openalex":"https://openalex.org/W2026313751","doi":"https://doi.org/10.1017/s0263574704000050","mag":"2026313751"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574704000050","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574704000050","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://tohoku.repo.nii.ac.jp/records/25398","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5103509939","display_name":"Woo-Keun Yoon","orcid":null},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Woo-Keun Yoon","raw_affiliation_strings":["Intelligent Systems Institute, National Institute of Advanced Industrial Science and Technology (AIST) 1-1-1 UMEZONO, TSUKUBA, 305-8568 (Japan","Intelligent Systems Institute, National Institute of Advanced Industrial Science and Technology (AIST) 1-1-1 UMEZONO, TSUKUBA, 305-8568 (Japan)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Systems Institute, National Institute of Advanced Industrial Science and Technology (AIST) 1-1-1 UMEZONO, TSUKUBA, 305-8568 (Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"Intelligent Systems Institute, National Institute of Advanced Industrial Science and Technology (AIST) 1-1-1 UMEZONO, TSUKUBA, 305-8568 (Japan)","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056125044","display_name":"Takashi Suehiro","orcid":"https://orcid.org/0000-0002-1477-4280"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takashi Suehiro","raw_affiliation_strings":["Intelligent Systems Institute, National Institute of Advanced Industrial Science and Technology (AIST) 1-1-1 UMEZONO, TSUKUBA, 305-8568 (Japan","Intelligent Systems Institute, National Institute of Advanced Industrial Science and Technology (AIST) 1-1-1 UMEZONO, TSUKUBA, 305-8568 (Japan)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Systems Institute, National Institute of Advanced Industrial Science and Technology (AIST) 1-1-1 UMEZONO, TSUKUBA, 305-8568 (Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"Intelligent Systems Institute, National Institute of Advanced Industrial Science and Technology (AIST) 1-1-1 UMEZONO, TSUKUBA, 305-8568 (Japan)","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084072167","display_name":"Yuichi Tsumaki","orcid":"https://orcid.org/0009-0004-2575-4500"},"institutions":[{"id":"https://openalex.org/I146516829","display_name":"Hirosaki University","ror":"https://ror.org/02syg0q74","country_code":"JP","type":"education","lineage":["https://openalex.org/I146516829"]},{"id":"https://openalex.org/I4210159412","display_name":"Intelligent Machines (Sweden)","ror":"https://ror.org/05nzk9q32","country_code":"SE","type":"company","lineage":["https://openalex.org/I4210159412"]}],"countries":["JP","SE"],"is_corresponding":false,"raw_author_name":"Yuichi Tsumaki","raw_affiliation_strings":["Department of Intelligent Machines and System Engineering, Hirosaki University (Japan","Department of Intelligent Machines and System Engineering, Hirosaki University, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Intelligent Machines and System Engineering, Hirosaki University (Japan","institution_ids":["https://openalex.org/I4210159412","https://openalex.org/I146516829"]},{"raw_affiliation_string":"Department of Intelligent Machines and System Engineering, Hirosaki University, Japan","institution_ids":["https://openalex.org/I146516829"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083473038","display_name":"Masaru Uchiyama","orcid":null},"institutions":[{"id":"https://openalex.org/I4210124779","display_name":"National Aeronautics and Space Administration","ror":"https://ror.org/027ka1x80","country_code":"US","type":"government","lineage":["https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Masaru Uchiyama","raw_affiliation_strings":["Department of Aeronautic and Space Engineering, Tohoku University (Japan","Department of Aeronautic and Space Engineering, Tohoku University (Japan)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Aeronautic and Space Engineering, Tohoku University (Japan","institution_ids":["https://openalex.org/I4210124779"]},{"raw_affiliation_string":"Department of Aeronautic and Space Engineering, Tohoku University (Japan)","institution_ids":["https://openalex.org/I4210124779"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":10.531,"has_fulltext":false,"cited_by_count":57,"citation_normalized_percentile":{"value":0.97870721,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"22","issue":"4","first_page":"463","last_page":"475"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9991000294685364,"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":0.9991000294685364,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9977999925613403,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T10653","display_name":"Robot Manipulation and Learning","score":0.9965000152587891,"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/stiffness","display_name":"Stiffness","score":0.8484205007553101},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.6660889983177185},{"id":"https://openalex.org/keywords/bearing","display_name":"Bearing (navigation)","score":0.543867290019989},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.542312502861023},{"id":"https://openalex.org/keywords/elasticity","display_name":"Elasticity (physics)","score":0.5343692898750305},{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.5115042924880981},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.47624731063842773},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.4370593726634979},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.42669740319252014},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.42666053771972656},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.2991615831851959},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.25712263584136963},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.22931352257728577},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21874141693115234},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.13201743364334106},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11496192216873169},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.09255579113960266},{"id":"https://openalex.org/keywords/composite-material","display_name":"Composite material","score":0.07638400793075562}],"concepts":[{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.8484205007553101},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.6660889983177185},{"id":"https://openalex.org/C199978012","wikidata":"https://www.wikidata.org/wiki/Q1273815","display_name":"Bearing (navigation)","level":2,"score":0.543867290019989},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.542312502861023},{"id":"https://openalex.org/C121854251","wikidata":"https://www.wikidata.org/wiki/Q62932","display_name":"Elasticity (physics)","level":2,"score":0.5343692898750305},{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.5115042924880981},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.47624731063842773},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.4370593726634979},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.42669740319252014},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.42666053771972656},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.2991615831851959},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.25712263584136963},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.22931352257728577},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21874141693115234},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.13201743364334106},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11496192216873169},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.09255579113960266},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.07638400793075562},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1017/s0263574704000050","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574704000050","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"},{"id":"pmh:oai:irdb.nii.ac.jp:00918:0000470678","is_oa":true,"landing_page_url":"https://tohoku.repo.nii.ac.jp/records/25398","pdf_url":null,"source":{"id":"https://openalex.org/S7407056385","display_name":"Institutional Repositories DataBase (IRDB)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I184597095","host_organization_name":"National Institute of Informatics","host_organization_lineage":["https://openalex.org/I184597095"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotica","raw_type":"journal article"}],"best_oa_location":{"id":"pmh:oai:irdb.nii.ac.jp:00918:0000470678","is_oa":true,"landing_page_url":"https://tohoku.repo.nii.ac.jp/records/25398","pdf_url":null,"source":{"id":"https://openalex.org/S7407056385","display_name":"Institutional Repositories DataBase (IRDB)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I184597095","host_organization_name":"National Institute of Informatics","host_organization_lineage":["https://openalex.org/I184597095"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotica","raw_type":"journal article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W269913097","https://openalex.org/W2040853718","https://openalex.org/W2077129956","https://openalex.org/W2127910637","https://openalex.org/W2129715521","https://openalex.org/W2130245110","https://openalex.org/W2155036992","https://openalex.org/W2156361385","https://openalex.org/W2159229411","https://openalex.org/W2167357810","https://openalex.org/W2168687701","https://openalex.org/W2312581961","https://openalex.org/W2322151190","https://openalex.org/W2329700592","https://openalex.org/W2333151400","https://openalex.org/W2583909404","https://openalex.org/W3043217108"],"related_works":["https://openalex.org/W1923069992","https://openalex.org/W2160982102","https://openalex.org/W2048862765","https://openalex.org/W2770942502","https://openalex.org/W4281943815","https://openalex.org/W2094105667","https://openalex.org/W2097347938","https://openalex.org/W2164858976","https://openalex.org/W2970545857","https://openalex.org/W4311378573"],"abstract_inverted_index":{"In":[0],"our":[1,106,147],"previous":[2],"work,":[3],"we":[4,59,74,113,119,135],"developed":[5],"a":[6,12,25,37,56,76,84,128,132,137,142],"compact":[7],"6-DOF":[8],"haptic":[9,22],"interface":[10,23],"as":[11,97],"master":[13],"device":[14],"which":[15,112],"achieved":[16],"an":[17],"effective":[18],"manual":[19],"teleoperation.":[20],"The":[21],"contains":[24],"modified":[26,138],"Delta":[27,139],"parallel-link":[28],"positioning":[29],"mechanism.":[30],"Parallel":[31],"mechanisms":[32],"are":[33],"usually":[34],"characterized":[35],"by":[36,44],"high":[38],"stiffness,":[39,64,144],"which,":[40],"however,":[41],"is":[42,91,108],"reduced":[43],"elastic":[45,66,99],"deformations":[46,67],"of":[47,68,105,123,127,149],"both":[48,69],"parts":[49,70],"and":[50,71,117],"bearings.":[51,72,88],"Therefore,":[52],"to":[53,79],"design":[54,136],"such":[55,96],"parallel":[57,85],"mechanism,":[58,140],"should":[60],"analyze":[61,80],"its":[62],"structural":[63,81],"including":[65],"Then":[73],"propose":[75],"simple":[77],"method":[78,90,107,148],"stiffness":[82,150],"in":[83,111,131],"mechanism":[86],"using":[87],"Our":[89],"based":[92,145],"on":[93,146],"standard":[94],"concepts":[95,116],"static":[98],"deformations.":[100],"However,":[101],"the":[102,109,121,124],"important":[103],"aspect":[104],"manner":[110],"combine":[114],"these":[115],"how":[118],"obtain":[120],"value":[122],"elasticity":[125],"coefficient":[126],"rotation":[129],"axis":[130],"bearing.":[133],"Finally,":[134],"with":[141],"well-balanced":[143],"analysis.":[151]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":5},{"year":2015,"cited_by_count":2},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":8}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}