{"id":"https://openalex.org/W1985310329","doi":"https://doi.org/10.1017/s0263574714001209","title":"Optimization of a redundantly actuated 5R symmetrical parallel mechanism based on structural stiffness","display_name":"Optimization of a redundantly actuated 5R symmetrical parallel mechanism based on structural stiffness","publication_year":2014,"publication_date":"2014-05-15","ids":{"openalex":"https://openalex.org/W1985310329","doi":"https://doi.org/10.1017/s0263574714001209","mag":"1985310329"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574714001209","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574714001209","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/A5069801171","display_name":"Sangrok Jin","orcid":"https://orcid.org/0000-0002-5594-4231"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Sangrok Jin","raw_affiliation_strings":["School of Mechanical and Aerospace Engineering, Seoul Nat'l University, Seoul 151-019, Republic of Korea","\u2020School of Mechanical and Aerospace Engineering,Seoul Nat'l University,Seoul 151-019,Republic of Korea"],"affiliations":[{"raw_affiliation_string":"School of Mechanical and Aerospace Engineering, Seoul Nat'l University, Seoul 151-019, Republic of Korea","institution_ids":["https://openalex.org/I139264467"]},{"raw_affiliation_string":"\u2020School of Mechanical and Aerospace Engineering,Seoul Nat'l University,Seoul 151-019,Republic of Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100356559","display_name":"Jongwon Kim","orcid":"https://orcid.org/0000-0003-2519-6890"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Jongwon Kim","raw_affiliation_strings":["School of Mechanical and Aerospace Engineering, Seoul Nat'l University, Seoul 151-019, Republic of Korea","\u2020School of Mechanical and Aerospace Engineering,Seoul Nat'l University,Seoul 151-019,Republic of Korea"],"affiliations":[{"raw_affiliation_string":"School of Mechanical and Aerospace Engineering, Seoul Nat'l University, Seoul 151-019, Republic of Korea","institution_ids":["https://openalex.org/I139264467"]},{"raw_affiliation_string":"\u2020School of Mechanical and Aerospace Engineering,Seoul Nat'l University,Seoul 151-019,Republic of Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5000423233","display_name":"TaeWon Seo","orcid":"https://orcid.org/0000-0001-9447-7675"},"institutions":[{"id":"https://openalex.org/I55240360","display_name":"Yeungnam University","ror":"https://ror.org/05yc6p159","country_code":"KR","type":"education","lineage":["https://openalex.org/I55240360"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"TaeWon Seo","raw_affiliation_strings":["School of Mechanical Engineering, Yeungnam University, Gyeongsan 712-749, Republic of Korea","School of Mechanical Engineering, Yeungnam University, Gyeongsan, 712-749, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Yeungnam University, Gyeongsan 712-749, Republic of Korea","institution_ids":["https://openalex.org/I55240360"]},{"raw_affiliation_string":"School of Mechanical Engineering, Yeungnam University, Gyeongsan, 712-749, Republic of Korea","institution_ids":["https://openalex.org/I55240360"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5000423233","https://openalex.org/A5100356559"],"corresponding_institution_ids":["https://openalex.org/I139264467","https://openalex.org/I55240360"],"apc_list":null,"apc_paid":null,"fwci":2.8403,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.90622938,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"33","issue":"9","first_page":"1973","last_page":"1983"},"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":0.9994999766349792,"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":0.994700014591217,"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/stiffness","display_name":"Stiffness","score":0.8737123012542725},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.7607502937316895},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6772328615188599},{"id":"https://openalex.org/keywords/revolute-joint","display_name":"Revolute joint","score":0.5985977649688721},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.5611344575881958},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5250463485717773},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.47866472601890564},{"id":"https://openalex.org/keywords/tangent-stiffness-matrix","display_name":"Tangent stiffness matrix","score":0.44249817728996277},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.43704670667648315},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4300641417503357},{"id":"https://openalex.org/keywords/isotropy","display_name":"Isotropy","score":0.42713743448257446},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3204527795314789},{"id":"https://openalex.org/keywords/stiffness-matrix","display_name":"Stiffness matrix","score":0.17889508605003357},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.16371241211891174},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.14144957065582275},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1211862862110138},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10400733351707458}],"concepts":[{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.8737123012542725},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.7607502937316895},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6772328615188599},{"id":"https://openalex.org/C5643039","wikidata":"https://www.wikidata.org/wiki/Q3819341","display_name":"Revolute joint","level":3,"score":0.5985977649688721},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.5611344575881958},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5250463485717773},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.47866472601890564},{"id":"https://openalex.org/C178295079","wikidata":"https://www.wikidata.org/wiki/Q919765","display_name":"Tangent stiffness matrix","level":4,"score":0.44249817728996277},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.43704670667648315},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4300641417503357},{"id":"https://openalex.org/C184050105","wikidata":"https://www.wikidata.org/wiki/Q273163","display_name":"Isotropy","level":2,"score":0.42713743448257446},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3204527795314789},{"id":"https://openalex.org/C14198674","wikidata":"https://www.wikidata.org/wiki/Q3851930","display_name":"Stiffness matrix","level":3,"score":0.17889508605003357},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.16371241211891174},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.14144957065582275},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1211862862110138},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10400733351707458},{"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574714001209","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574714001209","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":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1973371019","https://openalex.org/W1973879580","https://openalex.org/W1975867438","https://openalex.org/W1993371511","https://openalex.org/W1994873458","https://openalex.org/W2002528379","https://openalex.org/W2015605193","https://openalex.org/W2037677944","https://openalex.org/W2050547097","https://openalex.org/W2082950373","https://openalex.org/W2101689021","https://openalex.org/W2107102274","https://openalex.org/W2119276016","https://openalex.org/W2133813835","https://openalex.org/W2168789499","https://openalex.org/W2341668857"],"related_works":["https://openalex.org/W2883550785","https://openalex.org/W1992503747","https://openalex.org/W2890977713","https://openalex.org/W2371519816","https://openalex.org/W2043154226","https://openalex.org/W2123089778","https://openalex.org/W1980749193","https://openalex.org/W2369529107","https://openalex.org/W2794023945","https://openalex.org/W2138030819"],"abstract_inverted_index":{"SUMMARY":[0],"A":[1],"redundantly":[2,27],"actuated":[3,28],"parallel":[4],"kinematic":[5],"machine":[6],"(PKM)":[7],"can":[8,130,170],"be":[9,171],"used":[10,172],"to":[11,120,173],"avoid":[12],"singularities,":[13],"normalize":[14],"manipulability,":[15],"and":[16,60,71,81,176],"increase":[17],"the":[18,42,47,54,57,61,66,78,82,86,91,95,100,113,122,141,144,147,154,158,165],"stiffness":[19,40,45,59,67,80,84,129,136,156,160],"of":[20,46,56,68,77,85,99,146,167],"anon-redundant":[21,69],"mechanism.":[22],"In":[23],"this":[24,168],"study,":[25],"a":[26,72,132,150],"symmetrical":[29,49],"PKM":[30,50,70,88,102,151],"with":[31],"five":[32],"revolute":[33],"(5R)":[34],"joints":[35],"is":[36,51,152],"optimized":[37],"for":[38],"isotropic":[39],"in":[41,90,94,104,149],"workspace.":[43],"The":[44],"5R":[48],"calculated":[52],"by":[53,111],"superposition":[55],"actuator":[58,79,115],"structural":[62,83,128,155],"stiffness.":[63],"We":[64,162],"compared":[65],"redundant":[73,101,178],"PKM.":[74],"Compliance":[75],"ellipses":[76],"non-redundant":[87],"resulted":[89,103],"same":[92],"configurations":[93],"workspace,":[96],"while":[97],"those":[98],"very":[105],"different":[106],"configurations.":[107],"Optimization":[108],"was":[109],"performed":[110],"determining":[112],"optimal":[114,138],"torques":[116],"that":[117,164],"are":[118],"needed":[119],"maximize":[121],"conditioning":[123],"index.":[124,142],"Optimal":[125],"results":[126,139,166],"considering":[127,140],"provide":[131],"more":[133],"uniform":[134],"directional":[135],"than":[137],"When":[143],"strength":[145],"linkages":[148],"weak,":[153],"affects":[157],"actual":[159],"considerably.":[161],"believe":[163],"study":[169],"help":[174],"design":[175],"control":[177],"PKMs.":[179]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}