{"id":"https://openalex.org/W2050784360","doi":"https://doi.org/10.1017/s026357471500003x","title":"Solving kinematics and stiffness of a novel n(2-UPS/PS+RPS) spatial hyper-redundant manipulator","display_name":"Solving kinematics and stiffness of a novel n(2-UPS/PS+RPS) spatial hyper-redundant manipulator","publication_year":2015,"publication_date":"2015-02-11","ids":{"openalex":"https://openalex.org/W2050784360","doi":"https://doi.org/10.1017/s026357471500003x","mag":"2050784360"},"language":"en","primary_location":{"id":"doi:10.1017/s026357471500003x","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s026357471500003x","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/A5108438262","display_name":"Bo Hu","orcid":"https://orcid.org/0000-0003-2184-1848"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"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":true,"raw_author_name":"Bo Hu","raw_affiliation_strings":["Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of National Education, Yanshan University, Qinhuangdao, Hebei 066004, P. R. China","Parallel robot and mechatronic system laboratory of Hebei province, Yanshan University, Qinhuangdao, Hebei 066004, P. R. China","State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, Heilongjiang, P. R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of National Education, Yanshan University, Qinhuangdao, Hebei 066004, P. R. China","institution_ids":["https://openalex.org/I39333907"]},{"raw_affiliation_string":"Parallel robot and mechatronic system laboratory of Hebei province, Yanshan University, Qinhuangdao, Hebei 066004, P. R. China","institution_ids":["https://openalex.org/I39333907"]},{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, Heilongjiang, P. R. China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100654256","display_name":"Yin Wang","orcid":"https://orcid.org/0000-0001-5500-1228"},"institutions":[{"id":"https://openalex.org/I137506752","display_name":"North China University of Science and Technology","ror":"https://ror.org/04z4wmb81","country_code":"CN","type":"education","lineage":["https://openalex.org/I137506752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yin Wang","raw_affiliation_strings":["College of Mechanical Engineering, Hebei United University063009, Tangshan, P. R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Mechanical Engineering, Hebei United University063009, Tangshan, P. R. China","institution_ids":["https://openalex.org/I137506752"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101004505","display_name":"Yu Jingjing","orcid":null},"institutions":[{"id":"https://openalex.org/I48381559","display_name":"Hebei Normal University of Science and Technology","ror":"https://ror.org/05g1mag11","country_code":"CN","type":"education","lineage":["https://openalex.org/I48381559"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jingjing Yu","raw_affiliation_strings":["Department of Mechanics and Electronics, Heibei Normal University of Science & Technology, Qinhuangdao, P. R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanics and Electronics, Heibei Normal University of Science & Technology, Qinhuangdao, P. R. China","institution_ids":["https://openalex.org/I48381559"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101509091","display_name":"Yi L\u00fc","orcid":"https://orcid.org/0000-0001-7234-6930"},"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":"Yi Lu","raw_affiliation_strings":["Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of National Education, Yanshan University, Qinhuangdao, Hebei 066004, P. R. China","Parallel robot and mechatronic system laboratory of Hebei province, Yanshan University, Qinhuangdao, Hebei 066004, P. R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of National Education, Yanshan University, Qinhuangdao, Hebei 066004, P. R. China","institution_ids":["https://openalex.org/I39333907"]},{"raw_affiliation_string":"Parallel robot and mechatronic system laboratory of Hebei province, Yanshan University, Qinhuangdao, Hebei 066004, P. R. China","institution_ids":["https://openalex.org/I39333907"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5108438262"],"corresponding_institution_ids":["https://openalex.org/I204983213","https://openalex.org/I39333907"],"apc_list":null,"apc_paid":null,"fwci":0.6679,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.73944173,"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":"2386","last_page":"2399"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9965999722480774,"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/T11701","display_name":"Space Satellite Systems and Control","score":0.9896000027656555,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/revolute-joint","display_name":"Revolute joint","score":0.9260979890823364},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.7031359672546387},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6929622888565063},{"id":"https://openalex.org/keywords/statics","display_name":"Statics","score":0.6828895807266235},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.4963701367378235},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.41225701570510864},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.40830349922180176},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.37315523624420166},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.3028110861778259},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.28523075580596924},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.25796857476234436},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.22261247038841248},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10749807953834534},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.10671085119247437}],"concepts":[{"id":"https://openalex.org/C5643039","wikidata":"https://www.wikidata.org/wiki/Q3819341","display_name":"Revolute joint","level":3,"score":0.9260979890823364},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.7031359672546387},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6929622888565063},{"id":"https://openalex.org/C35441770","wikidata":"https://www.wikidata.org/wiki/Q169019","display_name":"Statics","level":2,"score":0.6828895807266235},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.4963701367378235},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.41225701570510864},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.40830349922180176},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.37315523624420166},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.3028110861778259},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.28523075580596924},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25796857476234436},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.22261247038841248},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10749807953834534},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.10671085119247437},{"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/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s026357471500003x","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s026357471500003x","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":23,"referenced_works":["https://openalex.org/W1580493658","https://openalex.org/W1969444943","https://openalex.org/W2012847731","https://openalex.org/W2016061395","https://openalex.org/W2018114976","https://openalex.org/W2025998431","https://openalex.org/W2028243225","https://openalex.org/W2028384208","https://openalex.org/W2040954162","https://openalex.org/W2050493823","https://openalex.org/W2057919213","https://openalex.org/W2060143285","https://openalex.org/W2063797945","https://openalex.org/W2072197062","https://openalex.org/W2075455446","https://openalex.org/W2077895657","https://openalex.org/W2094188411","https://openalex.org/W2341668857","https://openalex.org/W2361637330","https://openalex.org/W3147015227","https://openalex.org/W4210556961","https://openalex.org/W4231942748","https://openalex.org/W4256526535"],"related_works":["https://openalex.org/W2883550785","https://openalex.org/W2890977713","https://openalex.org/W2123089778","https://openalex.org/W1980749193","https://openalex.org/W2899776278","https://openalex.org/W2116626317","https://openalex.org/W2790463165","https://openalex.org/W2393524901","https://openalex.org/W1963990040","https://openalex.org/W3114149462"],"abstract_inverted_index":{"SUMMARY":[0],"A":[1],"novel":[2],"n(2-UPS/PS+RPS)":[3,62,79,90],"spatial":[4],"hyper-redundant":[5],"manipulator":[6],"(SHRM)":[7],"formed":[8,119],"by":[9,95,120,129],"an":[10,109],"optional":[11],"number":[12],"of":[13,39,60,77,88],"2-UPS/PS+RPS(2-universal":[14],"joint-prismatic":[15,20],"joint-spherical":[16,18,21],"joint/prismatic":[17],"joint+revolute":[19],"joint)":[22],"parallel":[23],"manipulators(PMs)":[24],"connected":[25],"in":[26,32,45,104],"series":[27],"is":[28,43,64,113],"proposed":[29],"and":[30,69,86,100],"analyzed":[31,93],"this":[33,50],"paper.":[34],"First,":[35],"the":[36,40,53,56,61,67,74,78,84,89],"forward":[37,57,75],"kinematics":[38,58],"2-UPS/PS+RPS":[41,106,122],"PM":[42],"derived":[44],"close":[46],"form.":[47],"By":[48],"extending":[49],"result":[51],"to":[52],"whole":[54],"SHRM,":[55],"model":[59],"SHRM":[63,80,91,118],"established.":[65],"Second,":[66],"compact":[68],"elegant":[70],"expressions":[71],"for":[72,115],"solving":[73],"velocity":[76],"are":[81,92,127],"derived.":[82],"Third,":[83],"statics":[85],"stiffness":[87],"systematically":[94],"considering":[96],"both":[97],"active":[98],"forces":[99,102],"constrained":[101],"existed":[103],"each":[105],"PM.":[107],"Finally,":[108],"analytically":[110],"solved":[111],"example":[112],"given":[114],"a":[116],"4(2-UPS/PS+RPS)":[117],"four":[121],"PMs.":[123],"The":[124],"analytical":[125],"results":[126],"verified":[128],"CAD":[130],"software.":[131]},"counts_by_year":[{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2016,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
