{"id":"https://openalex.org/W2021187191","doi":"https://doi.org/10.1017/s0263574715000272","title":"Geometric design of planar mechanisms based on virtual guides for manipulation","display_name":"Geometric design of planar mechanisms based on virtual guides for manipulation","publication_year":2015,"publication_date":"2015-04-29","ids":{"openalex":"https://openalex.org/W2021187191","doi":"https://doi.org/10.1017/s0263574715000272","mag":"2021187191"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574715000272","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574715000272","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/A5063599571","display_name":"Nina Robson","orcid":null},"institutions":[{"id":"https://openalex.org/I142934699","display_name":"California State University, Fullerton","ror":"https://ror.org/02avqqw26","country_code":"US","type":"education","lineage":["https://openalex.org/I142934699"]},{"id":"https://openalex.org/I204250578","display_name":"University of California, Irvine","ror":"https://ror.org/04gyf1771","country_code":"US","type":"education","lineage":["https://openalex.org/I204250578"]},{"id":"https://openalex.org/I4210140791","display_name":"Irvine University","ror":"https://ror.org/04ysmca02","country_code":"US","type":"education","lineage":["https://openalex.org/I4210140791"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nina Robson","raw_affiliation_strings":["Mechanical Engineering Department, California State University, Fullerton, California, USA","Mechanical and Aerospace Engineering Department, University of California, Irvine, California, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, California State University, Fullerton, California, USA","institution_ids":["https://openalex.org/I142934699"]},{"raw_affiliation_string":"Mechanical and Aerospace Engineering Department, University of California, Irvine, California, USA","institution_ids":["https://openalex.org/I204250578","https://openalex.org/I4210140791"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101956667","display_name":"Shramana Ghosh","orcid":"https://orcid.org/0000-0003-0876-8674"},"institutions":[{"id":"https://openalex.org/I204250578","display_name":"University of California, Irvine","ror":"https://ror.org/04gyf1771","country_code":"US","type":"education","lineage":["https://openalex.org/I204250578"]},{"id":"https://openalex.org/I4210140791","display_name":"Irvine University","ror":"https://ror.org/04ysmca02","country_code":"US","type":"education","lineage":["https://openalex.org/I4210140791"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Shramana Ghosh","raw_affiliation_strings":["Mechanical and Aerospace Engineering Department, University of California, Irvine, California, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical and Aerospace Engineering Department, University of California, Irvine, California, USA","institution_ids":["https://openalex.org/I204250578","https://openalex.org/I4210140791"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5101956667"],"corresponding_institution_ids":["https://openalex.org/I204250578","https://openalex.org/I4210140791"],"apc_list":null,"apc_paid":null,"fwci":0.2967,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.67147167,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"34","issue":"12","first_page":"2653","last_page":"2668"},"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9986000061035156,"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":0.9940999746322632,"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":0.9149478673934937},{"id":"https://openalex.org/keywords/linkage","display_name":"Linkage (software)","score":0.773497462272644},{"id":"https://openalex.org/keywords/curvature","display_name":"Curvature","score":0.7017999291419983},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.6952018737792969},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6016557216644287},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.5823147296905518},{"id":"https://openalex.org/keywords/variety","display_name":"Variety (cybernetics)","score":0.5093027353286743},{"id":"https://openalex.org/keywords/kinematic-chain","display_name":"Kinematic chain","score":0.5033361315727234},{"id":"https://openalex.org/keywords/serial-manipulator","display_name":"Serial manipulator","score":0.4835093319416046},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4805717468261719},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.3320988714694977},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.2906467020511627},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2354934811592102},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20323920249938965},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.20184963941574097},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.18257975578308105},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.15987521409988403},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.14056649804115295},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.11578896641731262}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.9149478673934937},{"id":"https://openalex.org/C31266012","wikidata":"https://www.wikidata.org/wiki/Q6554340","display_name":"Linkage (software)","level":3,"score":0.773497462272644},{"id":"https://openalex.org/C195065555","wikidata":"https://www.wikidata.org/wiki/Q214881","display_name":"Curvature","level":2,"score":0.7017999291419983},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.6952018737792969},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6016557216644287},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.5823147296905518},{"id":"https://openalex.org/C136197465","wikidata":"https://www.wikidata.org/wiki/Q1729295","display_name":"Variety (cybernetics)","level":2,"score":0.5093027353286743},{"id":"https://openalex.org/C62837456","wikidata":"https://www.wikidata.org/wiki/Q678308","display_name":"Kinematic chain","level":3,"score":0.5033361315727234},{"id":"https://openalex.org/C120910303","wikidata":"https://www.wikidata.org/wiki/Q7454692","display_name":"Serial manipulator","level":4,"score":0.4835093319416046},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4805717468261719},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.3320988714694977},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.2906467020511627},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2354934811592102},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20323920249938965},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20184963941574097},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.18257975578308105},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.15987521409988403},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.14056649804115295},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.11578896641731262},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574715000272","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574715000272","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":0.41999998688697815,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320310164","display_name":"Texas A and M University","ror":"https://ror.org/01f5ytq51"},{"id":"https://openalex.org/F4320332670","display_name":"California State University, Fullerton","ror":"https://ror.org/02avqqw26"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1490678064","https://openalex.org/W1991486201","https://openalex.org/W1997902900","https://openalex.org/W2002677178","https://openalex.org/W2016182691","https://openalex.org/W2034121977","https://openalex.org/W2045918543","https://openalex.org/W2067274877","https://openalex.org/W2075461447","https://openalex.org/W2083188966","https://openalex.org/W2083237311","https://openalex.org/W2094903231","https://openalex.org/W2136938510","https://openalex.org/W2144598925","https://openalex.org/W2163949987","https://openalex.org/W2318806229","https://openalex.org/W2324303144","https://openalex.org/W2325438968","https://openalex.org/W4245114601","https://openalex.org/W4249626862"],"related_works":["https://openalex.org/W2016827119","https://openalex.org/W2050901119","https://openalex.org/W2978007058","https://openalex.org/W4300716453","https://openalex.org/W2039076362","https://openalex.org/W2526941340","https://openalex.org/W2514687147","https://openalex.org/W2103896848","https://openalex.org/W4387935189","https://openalex.org/W1965919876"],"abstract_inverted_index":{"SUMMARY":[0],"This":[1],"paper":[2,43,92],"presents":[3],"recent":[4],"results":[5,116],"and":[6,15,31,54,61,109],"applications":[7],"of":[8,13,63,83,90,98,106,120,135],"our":[9],"planar":[10],"kinematic":[11,104,111,121],"synthesis":[12,72,105,119],"serial":[14],"parallel":[16],"linkages":[17],"to":[18,70,79,102],"guide":[19],"a":[20,84,133],"rigid":[21],"body,":[22],"such":[23,137],"that":[24,128],"it":[25],"does":[26],"not":[27],"violate":[28],"normal":[29],"direction":[30,53],"curvature":[32,55,130],"constraints":[33,56,131],"imposed":[34],"by":[35],"contact":[36,52],"with":[37,132],"objects":[38],"in":[39,66,94],"the":[40,46,67,81,91,96,99,103,118],"environment.":[41],"The":[42,87],"briefly":[44],"reviews":[45],"recently":[47],"developed":[48],"theory":[49,101],"on":[50,59,117,124],"transforming":[51],"into":[57],"conditions":[58],"velocity":[60],"acceleration":[62],"certain":[64],"points":[65],"moving":[68],"body":[69],"obtain":[71],"equations":[73],"which":[74],"can,":[75],"subsequently":[76],"be":[77],"solved":[78],"find":[80],"dimensions":[82],"mechanical":[85],"linkage.":[86],"main":[88],"contribution":[89],"is":[93],"demonstrating":[95],"applicability":[97],"proposed":[100],"both":[107],"open":[108],"closed-loop":[110],"linkages.":[112],"We":[113],"provide":[114],"preliminary":[115],"chains":[122],"based":[123],"novel":[125],"task":[126],"specifications":[127],"incorporate":[129],"variety":[134],"applications,":[136],"as":[138,146,148],"passive":[139],"suspensions":[140],"for":[141],"small":[142],"rovers,":[143],"assistive":[144],"technologies,":[145],"well":[147],"grasping.":[149]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}