{"id":"https://openalex.org/W2050661526","doi":"https://doi.org/10.1017/s0263574712000148","title":"Position-singularity analysis of a special class of the Stewart parallel mechanisms with two dissimilar semi-symmetrical hexagons","display_name":"Position-singularity analysis of a special class of the Stewart parallel mechanisms with two dissimilar semi-symmetrical hexagons","publication_year":2012,"publication_date":"2012-04-20","ids":{"openalex":"https://openalex.org/W2050661526","doi":"https://doi.org/10.1017/s0263574712000148","mag":"2050661526"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574712000148","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574712000148","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/A5101475774","display_name":"Baokun Li","orcid":"https://orcid.org/0000-0001-5413-4061"},"institutions":[{"id":"https://openalex.org/I111599522","display_name":"Jiangnan University","ror":"https://ror.org/04mkzax54","country_code":"CN","type":"education","lineage":["https://openalex.org/I111599522"]},{"id":"https://openalex.org/I184681353","display_name":"Anhui University of Science and Technology","ror":"https://ror.org/00q9atg80","country_code":"CN","type":"education","lineage":["https://openalex.org/I184681353"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Baokun Li","raw_affiliation_strings":["School of Mechanical Engineering, Anhui University of Science and Technology, Huainan, Anhui 232001, China","School of Mechanical Engineering, Jiangnan University, Wuxi, Jiangsu 214122, China","Jiangnan University,"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Anhui University of Science and Technology, Huainan, Anhui 232001, China","institution_ids":["https://openalex.org/I184681353"]},{"raw_affiliation_string":"School of Mechanical Engineering, Jiangnan University, Wuxi, Jiangsu 214122, China","institution_ids":["https://openalex.org/I111599522"]},{"raw_affiliation_string":"Jiangnan University,","institution_ids":["https://openalex.org/I111599522"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103416931","display_name":"Yi Cao","orcid":"https://orcid.org/0000-0003-1657-9005"},"institutions":[{"id":"https://openalex.org/I4210124140","display_name":"CAS Key Laboratory of Urban Pollutant Conversion","ror":"https://ror.org/02w5xy446","country_code":"CN","type":"facility","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366","https://openalex.org/I19820366","https://openalex.org/I4210119653","https://openalex.org/I4210124140"]},{"id":"https://openalex.org/I111599522","display_name":"Jiangnan University","ror":"https://ror.org/04mkzax54","country_code":"CN","type":"education","lineage":["https://openalex.org/I111599522"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yi Cao","raw_affiliation_strings":["School of Mechanical Engineering, Jiangnan University, Wuxi, Jiangsu 214122, China","The State Key Laboratory of Fluid Power and Mechatronic Systems, Hangzhou, Zhejiang 310027, China","Jiangnan University,"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Jiangnan University, Wuxi, Jiangsu 214122, China","institution_ids":["https://openalex.org/I111599522"]},{"raw_affiliation_string":"The State Key Laboratory of Fluid Power and Mechatronic Systems, Hangzhou, Zhejiang 310027, China","institution_ids":["https://openalex.org/I4210124140"]},{"raw_affiliation_string":"Jiangnan University,","institution_ids":["https://openalex.org/I111599522"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101786786","display_name":"Qiuju Zhang","orcid":"https://orcid.org/0000-0002-7002-5444"},"institutions":[{"id":"https://openalex.org/I111599522","display_name":"Jiangnan University","ror":"https://ror.org/04mkzax54","country_code":"CN","type":"education","lineage":["https://openalex.org/I111599522"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qiuju Zhang","raw_affiliation_strings":["School of Mechanical Engineering, Jiangnan University, Wuxi, Jiangsu 214122, China","Jiangnan University,"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Jiangnan University, Wuxi, Jiangsu 214122, China","institution_ids":["https://openalex.org/I111599522"]},{"raw_affiliation_string":"Jiangnan University,","institution_ids":["https://openalex.org/I111599522"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103513773","display_name":"Zhen Huang","orcid":"https://orcid.org/0009-0008-3557-6903"},"institutions":[{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhen Huang","raw_affiliation_strings":["Robotics Research Center, Yanshan University, Qinhuangdao, Heibei 066004, China","Yanshan Univ"],"affiliations":[{"raw_affiliation_string":"Robotics Research Center, Yanshan University, Qinhuangdao, Heibei 066004, China","institution_ids":["https://openalex.org/I39333907"]},{"raw_affiliation_string":"Yanshan Univ","institution_ids":["https://openalex.org/I39333907"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5103416931"],"corresponding_institution_ids":["https://openalex.org/I111599522","https://openalex.org/I4210124140"],"apc_list":null,"apc_paid":null,"fwci":1.1261,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.8233879,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"31","issue":"1","first_page":"123","last_page":"136"},"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/T11525","display_name":"Piezoelectric Actuators and Control","score":0.9988999962806702,"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":0.9858999848365784,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/singularity","display_name":"Singularity","score":0.9011358618736267},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.5779913663864136},{"id":"https://openalex.org/keywords/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.5524774789810181},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.5332216024398804},{"id":"https://openalex.org/keywords/conic-section","display_name":"Conic section","score":0.509355902671814},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.5027890205383301},{"id":"https://openalex.org/keywords/screw-theory","display_name":"Screw theory","score":0.4489325284957886},{"id":"https://openalex.org/keywords/general-position","display_name":"General position","score":0.4175302982330322},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.31665629148483276},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2542550265789032},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.21617889404296875}],"concepts":[{"id":"https://openalex.org/C16171025","wikidata":"https://www.wikidata.org/wiki/Q863349","display_name":"Singularity","level":2,"score":0.9011358618736267},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.5779913663864136},{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.5524774789810181},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.5332216024398804},{"id":"https://openalex.org/C108598597","wikidata":"https://www.wikidata.org/wiki/Q124255","display_name":"Conic section","level":2,"score":0.509355902671814},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.5027890205383301},{"id":"https://openalex.org/C18788176","wikidata":"https://www.wikidata.org/wiki/Q7891441","display_name":"Screw theory","level":3,"score":0.4489325284957886},{"id":"https://openalex.org/C150397156","wikidata":"https://www.wikidata.org/wiki/Q591310","display_name":"General position","level":2,"score":0.4175302982330322},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.31665629148483276},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2542550265789032},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.21617889404296875},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574712000148","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574712000148","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":0.5,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1555017108","https://openalex.org/W1975862206","https://openalex.org/W1984999324","https://openalex.org/W1995146364","https://openalex.org/W2002200127","https://openalex.org/W2005837303","https://openalex.org/W2015530264","https://openalex.org/W2033441509","https://openalex.org/W2039446760","https://openalex.org/W2041790765","https://openalex.org/W2042341192","https://openalex.org/W2042810765","https://openalex.org/W2045303715","https://openalex.org/W2064071544","https://openalex.org/W2077129956","https://openalex.org/W2078128093","https://openalex.org/W2079641169","https://openalex.org/W2084430545","https://openalex.org/W2110647104","https://openalex.org/W2111784926","https://openalex.org/W2124771655","https://openalex.org/W2124860692","https://openalex.org/W2129922431","https://openalex.org/W2146475250","https://openalex.org/W2149994703","https://openalex.org/W3150997492","https://openalex.org/W6679645855"],"related_works":["https://openalex.org/W2041126047","https://openalex.org/W2774955046","https://openalex.org/W1995920983","https://openalex.org/W1541561630","https://openalex.org/W2188343301","https://openalex.org/W2360956111","https://openalex.org/W1484028842","https://openalex.org/W3048292884","https://openalex.org/W68594487","https://openalex.org/W2050661526"],"abstract_inverted_index":{"SUMMARY":[0],"In":[1],"this":[2],"paper,":[3],"for":[4,29,96,200],"a":[5,30,83,97,125,168],"special":[6,172],"class":[7],"of":[8,26,49,60,75,93,119,143,156,160,164,187,208,222],"the":[9,24,27,47,53,58,61,70,73,76,89,94,108,116,120,136,141,147,174,192,201,205,209,213,219,223,229,234],"Stewart":[10],"parallel":[11,190],"mechanism,":[12],"whose":[13,67],"moving":[14,148],"platform":[15,149],"and":[16,52,101,115,167,198,233],"base":[17],"one":[18,184],"are":[19,129,151,189,196,216,240],"two":[20,180],"dissimilar":[21],"semi-symmetrical":[22],"hexagons,":[23],"position-singularity":[25,91,110,121,137,210,224],"mechanism":[28,95],"constant-orientation":[31,98],"is":[32,43,69,99,112,226],"analyzed":[33],"systematically.":[34],"The":[35,237],"force":[36],"Jacobian":[37],"matrix":[38,63,77],"[":[39,64,78],"J":[40,79],"]":[41,80],"T":[42,81],"constructed":[44],"based":[45],"on":[46],"principle":[48],"static":[50],"equilibrium":[51],"screw":[54,235],"theory.":[55,236],"After":[56],"expanding":[57],"determinant":[59],"simplified":[62],"D":[65],"],":[66],"rank":[68,74],"same":[71],"as":[72],",":[82],"cubic":[84],"symbolic":[85],"expression":[86],"that":[87,107],"represents":[88],"3D":[90,109],"locus":[92,122,138],"derived":[100],"graphically":[102],"represented.":[103],"Further":[104],"research":[105],"shows":[106],"surface":[111],"extremely":[113],"complicated,":[114],"geometric":[117,206],"characteristics":[118,207],"lying":[123,139],"in":[124,140,212],"general":[126],"oblique":[127],"plane":[128,215],"very":[130],"difficult":[131],"to":[132,191],"be":[133],"identified.":[134],"However,":[135],"series":[142],"characteristic":[144,214],"planes,":[145],"where":[146],"coincides,":[150],"all":[152,186],"quadratic":[153,175],"curves":[154,211,225],"compromised":[155],"infinite":[157],"many":[158],"sets":[159],"hyperbolas,":[161],"four":[162],"pairs":[163],"intersecting":[165],"lines":[166,181],"parabola.":[169],"For":[170],"some":[171],"orientations,":[173],"curve":[176],"can":[177],"degenerate":[178],"into":[179],"or":[182],"even":[183],"line,":[185],"which":[188],"ridgeline.":[193],"Two":[194],"theorems":[195],"presented":[197],"proved":[199],"first":[202],"time":[203],"when":[204],"analyzed.":[217],"Moreover,":[218],"kinematic":[220],"property":[221],"obtained":[227],"using":[228],"Grassmann":[230],"line":[231],"geometry":[232],"theoretical":[238],"results":[239],"demonstrated":[241],"with":[242],"several":[243],"numeric":[244],"examples.":[245]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}