{"id":"https://openalex.org/W1982117611","doi":"https://doi.org/10.1017/s0263574709005621","title":"Design, implementation, and performance evaluation of a 4-DOF parallel robot","display_name":"Design, implementation, and performance evaluation of a 4-DOF parallel robot","publication_year":2009,"publication_date":"2009-04-28","ids":{"openalex":"https://openalex.org/W1982117611","doi":"https://doi.org/10.1017/s0263574709005621","mag":"1982117611"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574709005621","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574709005621","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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5111952685","display_name":"Hee-Byoung Choi","orcid":null},"institutions":[{"id":"https://openalex.org/I196345858","display_name":"Chungnam National University","ror":"https://ror.org/0227as991","country_code":"KR","type":"education","lineage":["https://openalex.org/I196345858"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Hee-Byoung Choi","raw_affiliation_strings":["Mechatronics Engineering, Chungnam National University, 79 Daehangno, Yuseong-gu, Daejeon 305-764, Korea","Mechatronics engineering, chungnam national university, 79 daehangno, yuseong-gu, daejeon 305-764, korea#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechatronics Engineering, Chungnam National University, 79 Daehangno, Yuseong-gu, Daejeon 305-764, Korea","institution_ids":["https://openalex.org/I196345858"]},{"raw_affiliation_string":"Mechatronics engineering, chungnam national university, 79 daehangno, yuseong-gu, daejeon 305-764, korea#TAB#","institution_ids":["https://openalex.org/I196345858"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063403718","display_name":"Atsushi Konno","orcid":"https://orcid.org/0000-0003-3288-8844"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Atsushi Konno","raw_affiliation_strings":["Department of Aerospace Engineering, Tohoku University, Aoba-yama 01, Sendai 980-8579, Japan","Department of aerospace engineering, tohoku university, aoba-yama 01, sendai 980-8579, japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Aerospace Engineering, Tohoku University, Aoba-yama 01, Sendai 980-8579, Japan","institution_ids":["https://openalex.org/I201537933"]},{"raw_affiliation_string":"Department of aerospace engineering, tohoku university, aoba-yama 01, sendai 980-8579, japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083473038","display_name":"Masaru Uchiyama","orcid":null},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masaru Uchiyama","raw_affiliation_strings":["Department of Aerospace Engineering, Tohoku University, Aoba-yama 01, Sendai 980-8579, Japan","Department of aerospace engineering, tohoku university, aoba-yama 01, sendai 980-8579, japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Aerospace Engineering, Tohoku University, Aoba-yama 01, Sendai 980-8579, Japan","institution_ids":["https://openalex.org/I201537933"]},{"raw_affiliation_string":"Department of aerospace engineering, tohoku university, aoba-yama 01, sendai 980-8579, japan","institution_ids":["https://openalex.org/I201537933"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5111952685"],"corresponding_institution_ids":["https://openalex.org/I196345858"],"apc_list":null,"apc_paid":null,"fwci":10.0098,"has_fulltext":false,"cited_by_count":32,"citation_normalized_percentile":{"value":0.97694412,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"28","issue":"1","first_page":"107","last_page":"118"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998999834060669,"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":0.9998999834060669,"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/T11525","display_name":"Piezoelectric Actuators and Control","score":0.9929999709129333,"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/T11749","display_name":"Iterative Learning Control Systems","score":0.9904999732971191,"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/parallel-manipulator","display_name":"Parallel manipulator","score":0.7528160810470581},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7178478240966797},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.6909241676330566},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6811597347259521},{"id":"https://openalex.org/keywords/machining","display_name":"Machining","score":0.566933810710907},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.562107503414154},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.5564023852348328},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5225457549095154},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5196306109428406},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.5142883658409119},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.49985671043395996},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4772481918334961},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4626610577106476},{"id":"https://openalex.org/keywords/ellipsoid","display_name":"Ellipsoid","score":0.4461558163166046},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.42200979590415955},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.246082603931427},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.23090976476669312},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.17321211099624634},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.13245195150375366}],"concepts":[{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.7528160810470581},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7178478240966797},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.6909241676330566},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6811597347259521},{"id":"https://openalex.org/C523214423","wikidata":"https://www.wikidata.org/wiki/Q192047","display_name":"Machining","level":2,"score":0.566933810710907},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.562107503414154},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.5564023852348328},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5225457549095154},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5196306109428406},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.5142883658409119},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.49985671043395996},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4772481918334961},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4626610577106476},{"id":"https://openalex.org/C57489055","wikidata":"https://www.wikidata.org/wiki/Q190046","display_name":"Ellipsoid","level":2,"score":0.4461558163166046},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.42200979590415955},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.246082603931427},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.23090976476669312},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.17321211099624634},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.13245195150375366},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"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/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574709005621","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574709005621","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"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.46000000834465027,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W74209436","https://openalex.org/W1555993017","https://openalex.org/W1886758210","https://openalex.org/W2007848399","https://openalex.org/W2024053191","https://openalex.org/W2049410986","https://openalex.org/W2077129956","https://openalex.org/W2097447930","https://openalex.org/W2119276016","https://openalex.org/W2140894405","https://openalex.org/W2142812804","https://openalex.org/W2142875702","https://openalex.org/W2164270826","https://openalex.org/W2173462388","https://openalex.org/W2256955008","https://openalex.org/W2315984576","https://openalex.org/W2324665307","https://openalex.org/W2341668857","https://openalex.org/W2583909404","https://openalex.org/W2623660146","https://openalex.org/W2741744871","https://openalex.org/W3043217108","https://openalex.org/W4244932967","https://openalex.org/W4256526535","https://openalex.org/W6603059469","https://openalex.org/W6685272475"],"related_works":["https://openalex.org/W1986006778","https://openalex.org/W2390718407","https://openalex.org/W2362443754","https://openalex.org/W2145154791","https://openalex.org/W2996063054","https://openalex.org/W2361688797","https://openalex.org/W2152470674","https://openalex.org/W192519934","https://openalex.org/W2973099332","https://openalex.org/W625831653"],"abstract_inverted_index":{"SUMMARY":[0],"This":[1,30],"paper":[2],"deals":[3],"with":[4],"the":[5,43,52,57,64,70,85,98,110],"design,":[6],"implementation,":[7],"and":[8,22,28,39,49,56,90,104],"performance":[9,78],"evaluation":[10,79],"of":[11,15,42,51,63,72],"a":[12],"new":[13],"type":[14],"4-DOF":[16],"parallel":[17,31,73],"mechanism":[18,32],"providing":[19],"three":[20,95],"translations":[21],"one":[23,62],"rotation":[24],"for":[25],"high-speed":[26],"handling":[27],"machining.":[29],"is":[33,54,61,75,80],"named":[34],"H4.":[35],"A":[36],"necessary":[37],"condition":[38],"system":[40],"configuration":[41],"H4":[44,53,86],"are":[45],"also":[46],"described.":[47],"Hardware":[48],"kinematics":[50],"addressed":[55],"manipulability":[58],"ellipsoid":[59],"which":[60],"widely":[65],"used":[66],"methods":[67],"to":[68,83],"examine":[69],"design":[71],"mechanisms":[74],"addressed.":[76],"The":[77,88],"carried":[81],"out":[82],"demonstrate":[84],"robot.":[87],"simulation":[89],"experimental":[91],"results":[92],"show":[93],"that":[94],"different":[96],"controllers,":[97],"PD,":[99],"PD":[100],"+":[101],"velocity":[102],"feed-forward,":[103],"dynamic":[105],"compensation":[106],"controller,":[107],"dramatically":[108],"improve":[109],"trajectory":[111],"tracking":[112],"accuracy.":[113]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":2},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":6}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
