{"id":"https://openalex.org/W2547914242","doi":"https://doi.org/10.1017/s0263574715000351","title":"Dynamics analysis of novel hybrid robotic arm with three fingers","display_name":"Dynamics analysis of novel hybrid robotic arm with three fingers","publication_year":2015,"publication_date":"2015-05-28","ids":{"openalex":"https://openalex.org/W2547914242","doi":"https://doi.org/10.1017/s0263574715000351","mag":"2547914242"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574715000351","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574715000351","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/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":true,"raw_author_name":"Yi Lu","raw_affiliation_strings":["Parallel robot and mechatronic system laboratory of Hebei province, Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of National Education, College of Mechanical Engineering, Yanshan University, Qinhuangdao, 6 Hebei, 066004, P. R. China","Robotics Research Center, College of Mechanical Engineering, Yanshan University, Qinhuangdao, Hebei, 066004, P. R. China"],"affiliations":[{"raw_affiliation_string":"Parallel robot and mechatronic system laboratory of Hebei province, Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of National Education, College of Mechanical Engineering, Yanshan University, Qinhuangdao, 6 Hebei, 066004, P. R. China","institution_ids":["https://openalex.org/I39333907"]},{"raw_affiliation_string":"Robotics Research Center, College of Mechanical Engineering, Yanshan University, Qinhuangdao, Hebei, 066004, P. R. China","institution_ids":["https://openalex.org/I39333907"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062108114","display_name":"Zhuohong Dai","orcid":"https://orcid.org/0000-0001-7282-1797"},"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":"Zhuohong Dai","raw_affiliation_strings":["Robotics Research Center, College of Mechanical Engineering, Yanshan University, Qinhuangdao, Hebei, 066004, P. R. China"],"affiliations":[{"raw_affiliation_string":"Robotics Research Center, College of Mechanical Engineering, Yanshan University, Qinhuangdao, Hebei, 066004, P. R. China","institution_ids":["https://openalex.org/I39333907"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5034979372","display_name":"Nijia Ye","orcid":null},"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":"Nijia Ye","raw_affiliation_strings":["Robotics Research Center, College of Mechanical Engineering, Yanshan University, Qinhuangdao, Hebei, 066004, P. R. China"],"affiliations":[{"raw_affiliation_string":"Robotics Research Center, College of Mechanical Engineering, Yanshan University, Qinhuangdao, Hebei, 066004, P. R. China","institution_ids":["https://openalex.org/I39333907"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5101509091"],"corresponding_institution_ids":["https://openalex.org/I39333907"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.34457266,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"34","issue":"12","first_page":"2759","last_page":"2775"},"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/T10868","display_name":"Soft Robotics and Applications","score":0.9990000128746033,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9980000257492065,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/wrench","display_name":"Wrench","score":0.8220387697219849},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7229821681976318},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.660337507724762},{"id":"https://openalex.org/keywords/dynamics","display_name":"Dynamics (music)","score":0.5452556610107422},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5393396019935608},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5366811752319336},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.46242302656173706},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.45906856656074524},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.4334877133369446},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.42401784658432007},{"id":"https://openalex.org/keywords/forward-kinematics","display_name":"Forward kinematics","score":0.41784971952438354},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4052352011203766},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3898375630378723},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3479364216327667},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3298477530479431},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.3096582293510437},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.26407063007354736},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.16906675696372986},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12620139122009277},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.08788645267486572},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.07245111465454102}],"concepts":[{"id":"https://openalex.org/C29302406","wikidata":"https://www.wikidata.org/wiki/Q154411","display_name":"Wrench","level":2,"score":0.8220387697219849},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7229821681976318},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.660337507724762},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.5452556610107422},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5393396019935608},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5366811752319336},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.46242302656173706},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.45906856656074524},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.4334877133369446},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.42401784658432007},{"id":"https://openalex.org/C160970401","wikidata":"https://www.wikidata.org/wiki/Q1423222","display_name":"Forward kinematics","level":4,"score":0.41784971952438354},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4052352011203766},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3898375630378723},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3479364216327667},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3298477530479431},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.3096582293510437},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.26407063007354736},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.16906675696372986},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12620139122009277},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.08788645267486572},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.07245111465454102},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574715000351","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574715000351","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":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320324869","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W281156930","https://openalex.org/W1256870269","https://openalex.org/W1964676264","https://openalex.org/W1966207570","https://openalex.org/W1966590792","https://openalex.org/W1974697119","https://openalex.org/W1984717733","https://openalex.org/W1993922120","https://openalex.org/W1996218387","https://openalex.org/W2000547361","https://openalex.org/W2001277122","https://openalex.org/W2001303161","https://openalex.org/W2001792145","https://openalex.org/W2016630626","https://openalex.org/W2025998431","https://openalex.org/W2026470064","https://openalex.org/W2028243225","https://openalex.org/W2030844869","https://openalex.org/W2031241473","https://openalex.org/W2050493823","https://openalex.org/W2050805266","https://openalex.org/W2054475862","https://openalex.org/W2065939679","https://openalex.org/W2069209865","https://openalex.org/W2077414981","https://openalex.org/W2103061228","https://openalex.org/W2112936581","https://openalex.org/W2115654299","https://openalex.org/W2150399437","https://openalex.org/W2161129832","https://openalex.org/W2424019236","https://openalex.org/W4239340743","https://openalex.org/W6663133892"],"related_works":["https://openalex.org/W2800191144","https://openalex.org/W3003166781","https://openalex.org/W3131970116","https://openalex.org/W2347988643","https://openalex.org/W2353085265","https://openalex.org/W2989272167","https://openalex.org/W1971821535","https://openalex.org/W4379117992","https://openalex.org/W2393977490","https://openalex.org/W2038930466"],"abstract_inverted_index":{"SUMMARY":[0],"A":[1],"novel":[2],"hybrid":[3,54,94,114],"robotic":[4,55,95,115],"arm":[5,56,96,116],"with":[6,57,117],"three":[7,31,58,118],"fingers":[8,59,119],"is":[9,17,84,104],"proposed":[10],"for":[11,65,86,106],"assembly,":[12],"operation":[13],"and":[14,30,37,97,110,120],"rescue.":[15],"It":[16],"composed":[18],"of":[19,44,70,92,112],"an":[20,101],"upper":[21],"3RPS-type":[22],"parallel":[23,28],"manipulator,":[24],"a":[25,81,128],"lower":[26],"3SPR-type":[27],"manipulator":[29],"fingers.":[32,99],"Its":[33],"dynamics":[34,82,111],"are":[35,60,78,125],"studied":[36],"analyzed":[38],"systematically.":[39],"First,":[40],"the":[41,45,53,63,67,71,88,93,98,108,113,121],"kinematics":[42,109],"formulae":[43,64],"moving":[46,72],"links":[47,73],"at":[48,74],"their":[49,75],"mass":[50,76],"centers":[51,77],"in":[52],"established.":[61],"Second,":[62],"solving":[66,87,107],"inertial":[68],"wrench":[69],"derived.":[79],"Third,":[80],"formula":[83],"established":[85],"dynamic":[89],"active/constrained":[90],"forces":[91],"Finally,":[100],"analytic":[102,122],"example":[103],"given":[105],"solved":[123],"solutions":[124],"verified":[126],"by":[127],"simulation":[129],"mechanism.":[130]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
