{"id":"https://openalex.org/W2148877921","doi":"https://doi.org/10.1017/s0263574709990555","title":"Design and kinematics analysis of a new 3CCC parallel mechanism","display_name":"Design and kinematics analysis of a new 3CCC parallel mechanism","publication_year":2010,"publication_date":"2010-02-10","ids":{"openalex":"https://openalex.org/W2148877921","doi":"https://doi.org/10.1017/s0263574709990555","mag":"2148877921"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574709990555","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574709990555","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/A5019475373","display_name":"Dongming Gan","orcid":"https://orcid.org/0000-0001-5327-1902"},"institutions":[{"id":"https://openalex.org/I124357947","display_name":"University of London","ror":"https://ror.org/04cw6st05","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947"]},{"id":"https://openalex.org/I139759216","display_name":"Beijing University of Posts and Telecommunications","ror":"https://ror.org/04w9fbh59","country_code":"CN","type":"education","lineage":["https://openalex.org/I139759216"]},{"id":"https://openalex.org/I183935753","display_name":"King's College London","ror":"https://ror.org/0220mzb33","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I183935753"]},{"id":"https://openalex.org/I45129253","display_name":"University College London","ror":"https://ror.org/02jx3x895","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I45129253"]}],"countries":["CN","GB"],"is_corresponding":true,"raw_author_name":"Dongming Gan","raw_affiliation_strings":["Beijing University of Posts and Telecommunications, Beijing 100876, China","King's College London, University of London, Strand, London WC2R2LS, UK","Beijing University of Posts and Telecommunications, Beijing 100876, China; King's College London, University of London, Strand, London WC2R2LS, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing University of Posts and Telecommunications, Beijing 100876, China","institution_ids":["https://openalex.org/I139759216"]},{"raw_affiliation_string":"King's College London, University of London, Strand, London WC2R2LS, UK","institution_ids":["https://openalex.org/I183935753","https://openalex.org/I45129253","https://openalex.org/I124357947"]},{"raw_affiliation_string":"Beijing University of Posts and Telecommunications, Beijing 100876, China; King's College London, University of London, Strand, London WC2R2LS, UK","institution_ids":["https://openalex.org/I139759216","https://openalex.org/I183935753","https://openalex.org/I45129253"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113557579","display_name":"Qizheng Liao","orcid":null},"institutions":[{"id":"https://openalex.org/I139759216","display_name":"Beijing University of Posts and Telecommunications","ror":"https://ror.org/04w9fbh59","country_code":"CN","type":"education","lineage":["https://openalex.org/I139759216"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qizheng Liao","raw_affiliation_strings":["Beijing University of Posts and Telecommunications, Beijing 100876, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing University of Posts and Telecommunications, Beijing 100876, China","institution_ids":["https://openalex.org/I139759216"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040440410","display_name":"Jian S. Dai","orcid":"https://orcid.org/0000-0002-9729-1662"},"institutions":[{"id":"https://openalex.org/I124357947","display_name":"University of London","ror":"https://ror.org/04cw6st05","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947"]},{"id":"https://openalex.org/I183935753","display_name":"King's College London","ror":"https://ror.org/0220mzb33","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I183935753"]},{"id":"https://openalex.org/I45129253","display_name":"University College London","ror":"https://ror.org/02jx3x895","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I45129253"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Jian S. Dai","raw_affiliation_strings":["King's College London, University of London, Strand, London WC2R2LS, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"King's College London, University of London, Strand, London WC2R2LS, UK","institution_ids":["https://openalex.org/I183935753","https://openalex.org/I45129253","https://openalex.org/I124357947"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5036490457","display_name":"Shimin Wei","orcid":"https://orcid.org/0000-0002-6081-7229"},"institutions":[{"id":"https://openalex.org/I139759216","display_name":"Beijing University of Posts and Telecommunications","ror":"https://ror.org/04w9fbh59","country_code":"CN","type":"education","lineage":["https://openalex.org/I139759216"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shimin Wei","raw_affiliation_strings":["Beijing University of Posts and Telecommunications, Beijing 100876, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing University of Posts and Telecommunications, Beijing 100876, China","institution_ids":["https://openalex.org/I139759216"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5019475373"],"corresponding_institution_ids":["https://openalex.org/I124357947","https://openalex.org/I139759216","https://openalex.org/I183935753","https://openalex.org/I45129253"],"apc_list":null,"apc_paid":null,"fwci":3.6447,"has_fulltext":false,"cited_by_count":36,"citation_normalized_percentile":{"value":0.93393542,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"28","issue":"7","first_page":"1065","last_page":"1072"},"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/T10868","display_name":"Soft Robotics and Applications","score":0.9922999739646912,"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/T12907","display_name":"Mechanical Engineering and Vibrations Research","score":0.9873999953269958,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.8604143857955933},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.8260283470153809},{"id":"https://openalex.org/keywords/screw-theory","display_name":"Screw theory","score":0.7743318676948547},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.7356497645378113},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.7155120968818665},{"id":"https://openalex.org/keywords/forward-kinematics","display_name":"Forward kinematics","score":0.6435668468475342},{"id":"https://openalex.org/keywords/kinematics-equations","display_name":"Kinematics equations","score":0.5795949101448059},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.5529438257217407},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5346500277519226},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4915066659450531},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4653530716896057},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.400881290435791},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.3897213935852051},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3368706703186035},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.23181965947151184},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1754552721977234},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.16362270712852478},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1368885636329651},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.06624588370323181}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.8604143857955933},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.8260283470153809},{"id":"https://openalex.org/C18788176","wikidata":"https://www.wikidata.org/wiki/Q7891441","display_name":"Screw theory","level":3,"score":0.7743318676948547},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.7356497645378113},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.7155120968818665},{"id":"https://openalex.org/C160970401","wikidata":"https://www.wikidata.org/wiki/Q1423222","display_name":"Forward kinematics","level":4,"score":0.6435668468475342},{"id":"https://openalex.org/C204172952","wikidata":"https://www.wikidata.org/wiki/Q6410697","display_name":"Kinematics equations","level":5,"score":0.5795949101448059},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.5529438257217407},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5346500277519226},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4915066659450531},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4653530716896057},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.400881290435791},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.3897213935852051},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3368706703186035},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.23181965947151184},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1754552721977234},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.16362270712852478},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1368885636329651},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.06624588370323181},{"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/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1017/s0263574709990555","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574709990555","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:kclpure.kcl.ac.uk:publications/e18351c5-c1fc-49f0-a29e-35037db647ae","is_oa":false,"landing_page_url":"https://kclpure.kcl.ac.uk/portal/en/publications/e18351c5-c1fc-49f0-a29e-35037db647ae","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Gan , D , Liao , Q , Dai , J S & Wei , S 2010 , ' Design and kinematics analysis of a new 3CCC parallel mechanism ' , ROBOTICA , vol. 28 , pp. 1065 - 1072 . https://doi.org/10.1017/S0263574709990555","raw_type":"article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.75}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1602778891","https://openalex.org/W1979318820","https://openalex.org/W1985525293","https://openalex.org/W1987723315","https://openalex.org/W2013462535","https://openalex.org/W2046839475","https://openalex.org/W2050404759","https://openalex.org/W2060736832","https://openalex.org/W2071699182","https://openalex.org/W2077129956","https://openalex.org/W2086968082","https://openalex.org/W2101855097","https://openalex.org/W2106023758","https://openalex.org/W2111784926","https://openalex.org/W2113860323","https://openalex.org/W2113878382","https://openalex.org/W2130747331","https://openalex.org/W2164278974","https://openalex.org/W2516994551","https://openalex.org/W3180482864","https://openalex.org/W4241187624"],"related_works":["https://openalex.org/W2811382984","https://openalex.org/W2375200650","https://openalex.org/W2347988643","https://openalex.org/W2353085265","https://openalex.org/W2351331567","https://openalex.org/W1969999327","https://openalex.org/W4256303909","https://openalex.org/W2058205375","https://openalex.org/W1891563319","https://openalex.org/W3183163922"],"abstract_inverted_index":{"SUMMARY":[0],"A":[1,88],"CCC":[2],"limb":[3],"and":[4,22,31,40,64,103],"a":[5,65],"new":[6],"3CCC":[7,45],"parallel":[8,46],"mechanism":[9,47],"have":[10],"been":[11],"designed":[12],"in":[13,50,69,98],"this":[14],"paper":[15],"based":[16],"on":[17],"geometry":[18],"analysis.":[19],"Their":[20],"mobility":[21],"geometrical":[23,32],"constraints":[24],"are":[25,48],"discussed":[26],"by":[27],"using":[28],"screw":[29],"theory":[30],"equations":[33],"separately.":[34],"Following":[35],"that":[36],"both":[37],"the":[38,44,58,62,76,79,92],"inverse":[39],"forward":[41,59],"kinematics":[42],"of":[43,100],"proposed,":[49],"which":[51],"Dixon's":[52],"resultant":[53],"is":[54,72,96],"used":[55],"to":[56,75],"get":[57],"solutions":[60],"for":[61,78],"orientation":[63],"eighth-order":[66],"polynomial":[67],"equation":[68],"one":[70],"unknown":[71],"obtained,":[73],"leading":[74],"results":[77],"position":[80],"analysis,":[81],"numerical":[82],"examples":[83],"confirm":[84],"these":[85],"theoretical":[86],"results.":[87],"short":[89],"comparison":[90],"with":[91],"traditional":[93],"Stewart":[94],"platforms":[95],"presented":[97],"terms":[99],"kinematics,":[101],"workspace":[102],"trajectory":[104],"planning.":[105]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":3},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":8},{"year":2014,"cited_by_count":6},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":3}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}