{"id":"https://openalex.org/W2595612330","doi":"https://doi.org/10.1017/s0263574715000910","title":"Kinematics analysis and singularities of novel decoupled parallel manipulators with simplified architecture","display_name":"Kinematics analysis and singularities of novel decoupled parallel manipulators with simplified architecture","publication_year":2015,"publication_date":"2015-11-17","ids":{"openalex":"https://openalex.org/W2595612330","doi":"https://doi.org/10.1017/s0263574715000910","mag":"2595612330"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574715000910","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574715000910","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":true,"oa_status":"green","oa_url":"http://hdl.handle.net/11392/2337911","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5013092459","display_name":"Raffaele Di Gregorio","orcid":"https://orcid.org/0000-0003-3925-3016"},"institutions":[{"id":"https://openalex.org/I201324441","display_name":"University of Ferrara","ror":"https://ror.org/041zkgm14","country_code":"IT","type":"education","lineage":["https://openalex.org/I201324441"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Raffaele Di Gregorio","raw_affiliation_strings":["Department of Engineering, University of Ferrara, Via Saragat 1, 44122 Ferrara, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Engineering, University of Ferrara, Via Saragat 1, 44122 Ferrara, Italy","institution_ids":["https://openalex.org/I201324441"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5013092459"],"corresponding_institution_ids":["https://openalex.org/I201324441"],"apc_list":null,"apc_paid":null,"fwci":0.3408,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.70634041,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"35","issue":"4","first_page":"961","last_page":"979"},"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":0.9962999820709229,"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":0.9922000169754028,"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/workspace","display_name":"Workspace","score":0.904071569442749},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7922142744064331},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.6800167560577393},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.679485559463501},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5820772051811218},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5101204514503479},{"id":"https://openalex.org/keywords/gravitational-singularity","display_name":"Gravitational singularity","score":0.448845237493515},{"id":"https://openalex.org/keywords/serial-manipulator","display_name":"Serial manipulator","score":0.4220576882362366},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3751677870750427},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24618738889694214},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.24383842945098877},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1595434844493866},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.15470346808433533},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11019361019134521},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.0922815203666687},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.06160041689872742}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.904071569442749},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7922142744064331},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.6800167560577393},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.679485559463501},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5820772051811218},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5101204514503479},{"id":"https://openalex.org/C12843","wikidata":"https://www.wikidata.org/wiki/Q201721","display_name":"Gravitational singularity","level":2,"score":0.448845237493515},{"id":"https://openalex.org/C120910303","wikidata":"https://www.wikidata.org/wiki/Q7454692","display_name":"Serial manipulator","level":4,"score":0.4220576882362366},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3751677870750427},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24618738889694214},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.24383842945098877},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1595434844493866},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.15470346808433533},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11019361019134521},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0922815203666687},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.06160041689872742},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1017/s0263574715000910","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574715000910","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"},{"id":"pmh:oai:iris.unife.it:11392/2337911","is_oa":true,"landing_page_url":"http://hdl.handle.net/11392/2337911","pdf_url":null,"source":{"id":"https://openalex.org/S4306400369","display_name":"Institutional Research Information System University of Ferrara (University of Ferrara)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I201324441","host_organization_name":"University of Ferrara","host_organization_lineage":["https://openalex.org/I201324441"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:iris.unife.it:11392/2337911","is_oa":true,"landing_page_url":"http://hdl.handle.net/11392/2337911","pdf_url":null,"source":{"id":"https://openalex.org/S4306400369","display_name":"Institutional Research Information System University of Ferrara (University of Ferrara)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I201324441","host_organization_name":"University of Ferrara","host_organization_lineage":["https://openalex.org/I201324441"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.6100000143051147,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W40111655","https://openalex.org/W82229419","https://openalex.org/W1256870269","https://openalex.org/W1487444668","https://openalex.org/W1526117436","https://openalex.org/W1597009130","https://openalex.org/W1974697119","https://openalex.org/W1983996098","https://openalex.org/W2018114894","https://openalex.org/W2036418607","https://openalex.org/W2049938190","https://openalex.org/W2054472106","https://openalex.org/W2063882110","https://openalex.org/W2074126943","https://openalex.org/W2090661931","https://openalex.org/W2100201356","https://openalex.org/W2102917884","https://openalex.org/W2103410409","https://openalex.org/W2107119928","https://openalex.org/W2111784926","https://openalex.org/W2118251054","https://openalex.org/W2120041970","https://openalex.org/W2126268930","https://openalex.org/W2142032247","https://openalex.org/W2145840420","https://openalex.org/W2146475250","https://openalex.org/W2159381569","https://openalex.org/W2167357810","https://openalex.org/W2169965303","https://openalex.org/W2235181783","https://openalex.org/W2572504613","https://openalex.org/W2800773963","https://openalex.org/W3176072020","https://openalex.org/W4230149159","https://openalex.org/W4230981037","https://openalex.org/W4249593761","https://openalex.org/W4301621763"],"related_works":["https://openalex.org/W2362652060","https://openalex.org/W2357403317","https://openalex.org/W2394251694","https://openalex.org/W2026756596","https://openalex.org/W2635001913","https://openalex.org/W2066019639","https://openalex.org/W1518655544","https://openalex.org/W3162047364","https://openalex.org/W1917399524","https://openalex.org/W2948497870"],"abstract_inverted_index":{"SUMMARY":[0],"Parallel":[1],"manipulators":[2],"(PMs)":[3],"with":[4,16,101,115],"decoupled":[5,73],"kinematics":[6,141],"can":[7],"be":[8],"obtained":[9],"by":[10,37,53],"combining":[11,55],"a":[12,17,98],"translational":[13],"PM":[14,19],"(TPM)":[15],"spherical":[18],"(SPM)":[20],"either":[21],"in":[22,26,97],"multiplatform":[23],"architectures":[24],"or":[25,92],"integrated":[27],"more-complex":[28],"architectures.":[29],"Some":[30],"of":[31,47,110,142,153],"the":[32,38,48,83,89,95,108,111,116,122,125,129,143,150,154],"latter":[33],"type":[34,50],"are":[35,51],"inspired":[36],"6\u20134":[39],"fully":[40],"parallel":[41],"manipulator":[42],"(6\u20134":[43],"FPM),":[44],"whereas":[45],"others":[46],"same":[49],"deduced":[52],"suitably":[54],"TPMs'":[56],"limbs":[57,60,64,131],"and":[58,120,132,139],"SPMs'":[59],"into":[61],"more":[62,67],"cumbersome":[63],"which":[65,86],"contain":[66],"than":[68],"one":[69],"actuated":[70],"joint.":[71],"The":[72,137],"PMs":[74],"(DPMs)":[75],"presented":[76],"here":[77],"pursue":[78],"an":[79],"intermediate":[80],"concept":[81],"between":[82],"last":[84],"two":[85],"keeps":[87],"all":[88],"actuators":[90],"on":[91,124],"near":[93],"to":[94,128,133],"base":[96],"simplified":[99],"architecture":[100],"only":[102],"three":[103],"limbs.":[104],"These":[105],"features":[106],"preserve":[107],"lightness":[109],"mobile":[112],"masses,":[113],"together":[114],"associated":[117],"good-dynamic":[118],"performances,":[119],"reduce":[121],"limitations":[123],"workspace":[126],"due":[127],"eliminated":[130],"possible":[134],"limb":[135],"interferences.":[136],"finite":[138],"instantaneous":[140],"proposed":[144],"DPMs":[145],"is":[146],"studied,":[147],"thus":[148],"proving":[149],"practical":[151],"implementation":[152],"proposal.":[155]},"counts_by_year":[{"year":2023,"cited_by_count":2},{"year":2020,"cited_by_count":3},{"year":2018,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}