{"id":"https://openalex.org/W2254500970","doi":"https://doi.org/10.1017/s0263574714002860","title":"Kinematic analysis of a novel 2(3-<u>R</u>US) parallel manipulator","display_name":"Kinematic analysis of a novel 2(3-<u>R</u>US) parallel manipulator","publication_year":2015,"publication_date":"2015-01-20","ids":{"openalex":"https://openalex.org/W2254500970","doi":"https://doi.org/10.1017/s0263574714002860","mag":"2254500970"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574714002860","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574714002860","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/A5082836140","display_name":"R\u00f3ger E. S\u00e1nchez-Alonso","orcid":"https://orcid.org/0000-0001-5452-4908"},"institutions":[{"id":"https://openalex.org/I59361560","display_name":"Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/059sp8j34","country_code":"MX","type":"education","lineage":["https://openalex.org/I59361560"]}],"countries":["MX"],"is_corresponding":true,"raw_author_name":"R\u00f3ger E. S\u00e1nchez-Alonso","raw_affiliation_strings":["Centro de Investigaci\u00f3n en Ciencia Aplicada y Tecnolog\u00eda Avanzada, Instituto Polit\u00e9cnico Nacional. Cerro Blanco, No. 141, Colinas del Cimatario, Quer\u00e9taro, QRO, M\u00e9xico","\u2020Centro de Investigaci\u00f3n en Ciencia Aplicada y Tecnolog\u00eda Avanzada,Instituto Polit\u00e9cnico Nacional. Cerro Blanco,No. 141,Colinas del Cimatario,Quer\u00e9taro,QRO,M\u00e9xico"],"affiliations":[{"raw_affiliation_string":"Centro de Investigaci\u00f3n en Ciencia Aplicada y Tecnolog\u00eda Avanzada, Instituto Polit\u00e9cnico Nacional. Cerro Blanco, No. 141, Colinas del Cimatario, Quer\u00e9taro, QRO, M\u00e9xico","institution_ids":["https://openalex.org/I59361560"]},{"raw_affiliation_string":"\u2020Centro de Investigaci\u00f3n en Ciencia Aplicada y Tecnolog\u00eda Avanzada,Instituto Polit\u00e9cnico Nacional. Cerro Blanco,No. 141,Colinas del Cimatario,Quer\u00e9taro,QRO,M\u00e9xico","institution_ids":["https://openalex.org/I59361560"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045056736","display_name":"Jos\u00e9\u2010Joel Gonz\u00e1lez\u2010Barbosa","orcid":"https://orcid.org/0000-0002-6720-8282"},"institutions":[{"id":"https://openalex.org/I59361560","display_name":"Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/059sp8j34","country_code":"MX","type":"education","lineage":["https://openalex.org/I59361560"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Jos\u00e9-Joel Gonz\u00e1lez-Barbosa","raw_affiliation_strings":["Centro de Investigaci\u00f3n en Ciencia Aplicada y Tecnolog\u00eda Avanzada, Instituto Polit\u00e9cnico Nacional. Cerro Blanco, No. 141, Colinas del Cimatario, Quer\u00e9taro, QRO, M\u00e9xico"],"affiliations":[{"raw_affiliation_string":"Centro de Investigaci\u00f3n en Ciencia Aplicada y Tecnolog\u00eda Avanzada, Instituto Polit\u00e9cnico Nacional. Cerro Blanco, No. 141, Colinas del Cimatario, Quer\u00e9taro, QRO, M\u00e9xico","institution_ids":["https://openalex.org/I59361560"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001784387","display_name":"Eduardo Castillo-Casta\u00f1eda","orcid":"https://orcid.org/0000-0002-3307-6947"},"institutions":[{"id":"https://openalex.org/I59361560","display_name":"Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/059sp8j34","country_code":"MX","type":"education","lineage":["https://openalex.org/I59361560"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Eduardo Castillo-Castaneda","raw_affiliation_strings":["Centro de Investigaci\u00f3n en Ciencia Aplicada y Tecnolog\u00eda Avanzada, Instituto Polit\u00e9cnico Nacional. Cerro Blanco, No. 141, Colinas del Cimatario, Quer\u00e9taro, QRO, M\u00e9xico"],"affiliations":[{"raw_affiliation_string":"Centro de Investigaci\u00f3n en Ciencia Aplicada y Tecnolog\u00eda Avanzada, Instituto Polit\u00e9cnico Nacional. Cerro Blanco, No. 141, Colinas del Cimatario, Quer\u00e9taro, QRO, M\u00e9xico","institution_ids":["https://openalex.org/I59361560"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5091782304","display_name":"Jaime Gallardo-Alvarado","orcid":"https://orcid.org/0000-0002-8208-0432"},"institutions":[{"id":"https://openalex.org/I4210145284","display_name":"Technological Institute of Celaya","ror":"https://ror.org/03tamv273","country_code":"MX","type":"education","lineage":["https://openalex.org/I4210145284"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Jaime Gallardo-Alvarado","raw_affiliation_strings":["Departamento de Ingenier\u00eda Mec\u00e1nica, Instituto Tecnol\u00f3gico de Celaya. Av. Tecnol\u00f3gico y Av. Garc\u00eda Cubas, No. 38010, Celaya, GTO, M\u00e9xico"],"affiliations":[{"raw_affiliation_string":"Departamento de Ingenier\u00eda Mec\u00e1nica, Instituto Tecnol\u00f3gico de Celaya. Av. Tecnol\u00f3gico y Av. Garc\u00eda Cubas, No. 38010, Celaya, GTO, M\u00e9xico","institution_ids":["https://openalex.org/I4210145284"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5082836140"],"corresponding_institution_ids":["https://openalex.org/I59361560"],"apc_list":null,"apc_paid":null,"fwci":1.0098,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.80437853,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"34","issue":"10","first_page":"2241","last_page":"2256"},"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/T11301","display_name":"Advanced Surface Polishing Techniques","score":0.9879000186920166,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9818999767303467,"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/kinematics","display_name":"Kinematics","score":0.8908600807189941},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.8865002989768982},{"id":"https://openalex.org/keywords/screw-theory","display_name":"Screw theory","score":0.6895773410797119},{"id":"https://openalex.org/keywords/singularity","display_name":"Singularity","score":0.6719824075698853},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.6659644842147827},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.6230378150939941},{"id":"https://openalex.org/keywords/displacement","display_name":"Displacement (psychology)","score":0.5822386741638184},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5196877121925354},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.5108878016471863},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.45634517073631287},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.4416182041168213},{"id":"https://openalex.org/keywords/simple","display_name":"Simple (philosophy)","score":0.42430296540260315},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.35519763827323914},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3270813822746277},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.322895348072052},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.2899230718612671},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2766781449317932},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.13820797204971313},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.12208372354507446},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.11174413561820984}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.8908600807189941},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.8865002989768982},{"id":"https://openalex.org/C18788176","wikidata":"https://www.wikidata.org/wiki/Q7891441","display_name":"Screw theory","level":3,"score":0.6895773410797119},{"id":"https://openalex.org/C16171025","wikidata":"https://www.wikidata.org/wiki/Q863349","display_name":"Singularity","level":2,"score":0.6719824075698853},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.6659644842147827},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.6230378150939941},{"id":"https://openalex.org/C107551265","wikidata":"https://www.wikidata.org/wiki/Q1458245","display_name":"Displacement (psychology)","level":2,"score":0.5822386741638184},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5196877121925354},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.5108878016471863},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.45634517073631287},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.4416182041168213},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.42430296540260315},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.35519763827323914},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3270813822746277},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.322895348072052},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.2899230718612671},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2766781449317932},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.13820797204971313},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.12208372354507446},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.11174413561820984},{"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/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"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/C542102704","wikidata":"https://www.wikidata.org/wiki/Q183257","display_name":"Psychotherapist","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574714002860","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574714002860","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":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":54,"referenced_works":["https://openalex.org/W183725081","https://openalex.org/W196082515","https://openalex.org/W361773843","https://openalex.org/W1256870269","https://openalex.org/W1487823766","https://openalex.org/W1547230842","https://openalex.org/W1780075736","https://openalex.org/W1860358825","https://openalex.org/W1969444943","https://openalex.org/W1974730120","https://openalex.org/W1975128350","https://openalex.org/W1977145560","https://openalex.org/W1981517289","https://openalex.org/W1983143216","https://openalex.org/W1984999324","https://openalex.org/W1985525293","https://openalex.org/W1986481393","https://openalex.org/W1991844548","https://openalex.org/W1992042563","https://openalex.org/W2005837303","https://openalex.org/W2008610602","https://openalex.org/W2013462535","https://openalex.org/W2017605857","https://openalex.org/W2028052252","https://openalex.org/W2050916816","https://openalex.org/W2071108842","https://openalex.org/W2073752546","https://openalex.org/W2077129956","https://openalex.org/W2078106140","https://openalex.org/W2079641169","https://openalex.org/W2089733899","https://openalex.org/W2091181760","https://openalex.org/W2093255074","https://openalex.org/W2094003385","https://openalex.org/W2097812324","https://openalex.org/W2099723382","https://openalex.org/W2101855097","https://openalex.org/W2109640590","https://openalex.org/W2125497630","https://openalex.org/W2126846613","https://openalex.org/W2135529998","https://openalex.org/W2143135684","https://openalex.org/W2146475250","https://openalex.org/W2148098740","https://openalex.org/W2148127540","https://openalex.org/W2149675863","https://openalex.org/W2155908272","https://openalex.org/W2164278974","https://openalex.org/W2382148751","https://openalex.org/W2504329959","https://openalex.org/W2583909404","https://openalex.org/W3043217108","https://openalex.org/W6681932380","https://openalex.org/W7065243650"],"related_works":["https://openalex.org/W2051802930","https://openalex.org/W2081541259","https://openalex.org/W1981517289","https://openalex.org/W2310170769","https://openalex.org/W2424191457","https://openalex.org/W2254500970","https://openalex.org/W3115561832","https://openalex.org/W90437214","https://openalex.org/W1503216497","https://openalex.org/W2787271845"],"abstract_inverted_index":{"SUMMARY":[0],"This":[1],"paper":[2],"introduces":[3],"a":[4,19,79],"novel":[5],"6-DOF":[6],"parallel":[7,15,97],"manipulator,":[8],"which":[9,72],"is":[10,62,73],"composed":[11],"of":[12,36,43,68,78,94],"two":[13],"3-RUS":[14],"manipulators":[16],"that":[17],"share":[18],"common":[20],"three-dimensional":[21],"moving":[22,45],"platform.":[23],"Semi-analytical":[24],"form":[25],"solutions":[26],"are":[27,54,90],"easily":[28],"obtained":[29],"to":[30,64],"solve":[31],"the":[32,37,40,44,48,66,69,76,91,95],"forward":[33],"displacement":[34],"analysis":[35,85],"robot":[38],"using":[39,56],"non-planar":[41],"geometry":[42],"platform,":[46],"whereas":[47],"velocity,":[49],"acceleration,":[50],"and":[51,86],"singularity":[52],"analyses":[53],"performed":[55],"screw":[57],"theory.":[58],"A":[59],"case":[60],"study":[61],"included":[63],"show":[65],"application":[67],"kinematic":[70,84],"model,":[71],"verified":[74],"with":[75],"aid":[77],"commercially":[80],"available":[81],"software.":[82],"Simple":[83],"reduced":[87],"singular":[88],"regions":[89],"main":[92],"benefits":[93],"proposed":[96],"manipulator.":[98]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}