{"id":"https://openalex.org/W4205190099","doi":"https://doi.org/10.1017/s0263574721001892","title":"Trajectory planning of a 4-R<u>R</u>(SS)<sub>2</sub> high-speed parallel robot","display_name":"Trajectory planning of a 4-R<u>R</u>(SS)<sub>2</sub> high-speed parallel robot","publication_year":2022,"publication_date":"2022-01-07","ids":{"openalex":"https://openalex.org/W4205190099","doi":"https://doi.org/10.1017/s0263574721001892"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574721001892","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574721001892","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/A5075240143","display_name":"Huipu Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I36399199","display_name":"Nanjing University of Science and Technology","ror":"https://ror.org/00xp9wg62","country_code":"CN","type":"education","lineage":["https://openalex.org/I36399199"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huipu Zhang","raw_affiliation_strings":["School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing 210094, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing 210094, China","institution_ids":["https://openalex.org/I36399199"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076947003","display_name":"Manxin Wang","orcid":"https://orcid.org/0000-0002-6980-1004"},"institutions":[{"id":"https://openalex.org/I36399199","display_name":"Nanjing University of Science and Technology","ror":"https://ror.org/00xp9wg62","country_code":"CN","type":"education","lineage":["https://openalex.org/I36399199"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Manxin Wang","raw_affiliation_strings":["School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing 210094, China"],"raw_orcid":"https://orcid.org/0000-0002-6980-1004","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing 210094, China","institution_ids":["https://openalex.org/I36399199"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061671708","display_name":"Haibin Lai","orcid":null},"institutions":[{"id":"https://openalex.org/I36399199","display_name":"Nanjing University of Science and Technology","ror":"https://ror.org/00xp9wg62","country_code":"CN","type":"education","lineage":["https://openalex.org/I36399199"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haibin Lai","raw_affiliation_strings":["School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing 210094, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing 210094, China","institution_ids":["https://openalex.org/I36399199"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5049480916","display_name":"Junpeng Huang","orcid":"https://orcid.org/0000-0003-4785-7506"},"institutions":[{"id":"https://openalex.org/I4210144102","display_name":"Wuhu Hit Robot Technology Research Institute","ror":"https://ror.org/049w4dp92","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210144102"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junpeng Huang","raw_affiliation_strings":["Lianyungang Screws Robot Technology Co., Ltd, Lianyungang 222062, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Lianyungang Screws Robot Technology Co., Ltd, Lianyungang 222062, China","institution_ids":["https://openalex.org/I4210144102"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5076947003"],"corresponding_institution_ids":["https://openalex.org/I36399199"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.00437309,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":98},"biblio":{"volume":"40","issue":"8","first_page":"2666","last_page":"2682"},"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/T11749","display_name":"Iterative Learning Control Systems","score":0.9979000091552734,"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/T11525","display_name":"Piezoelectric Actuators and Control","score":0.991100013256073,"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/trajectory","display_name":"Trajectory","score":0.7678098678588867},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.7346971035003662},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6434870362281799},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.5862457156181335},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5797680616378784},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5615127682685852},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5340543985366821},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5174137353897095},{"id":"https://openalex.org/keywords/interpolation","display_name":"Interpolation (computer graphics)","score":0.47371381521224976},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.46694958209991455},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.45994752645492554},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4402511715888977},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.30673855543136597},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1444738805294037}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7678098678588867},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.7346971035003662},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6434870362281799},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.5862457156181335},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5797680616378784},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5615127682685852},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5340543985366821},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5174137353897095},{"id":"https://openalex.org/C137800194","wikidata":"https://www.wikidata.org/wiki/Q11713455","display_name":"Interpolation (computer graphics)","level":3,"score":0.47371381521224976},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.46694958209991455},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.45994752645492554},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4402511715888977},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.30673855543136597},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1444738805294037},{"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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574721001892","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574721001892","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":[{"id":"https://metadata.un.org/sdg/16","score":0.5400000214576721,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W1556803688","https://openalex.org/W1886758210","https://openalex.org/W2027221927","https://openalex.org/W2043622360","https://openalex.org/W2076406561","https://openalex.org/W2079704631","https://openalex.org/W2335538542","https://openalex.org/W2515505215","https://openalex.org/W2802393534","https://openalex.org/W2898941002","https://openalex.org/W3177611239"],"related_works":["https://openalex.org/W2904060783","https://openalex.org/W4385832323","https://openalex.org/W2356996864","https://openalex.org/W2015393961","https://openalex.org/W2378339670","https://openalex.org/W2359353485","https://openalex.org/W2139910871","https://openalex.org/W2361427670","https://openalex.org/W2034340939","https://openalex.org/W2886240924"],"abstract_inverted_index":{"Abstract":[0],"The":[1,14],"trajectory-planning":[2],"method":[3,141],"for":[4,142],"a":[5,28,35,156,163],"novel":[6],"4-degree-of-freedom":[7],"high-speed":[8],"parallel":[9,42],"robot":[10,43,164],"is":[11,57,66,88,109,153,160,188],"studied":[12],"herein.":[13],"robot\u2019s":[15],"motion":[16,74,96,101],"mechanism":[17,65],"adopts":[18],"R":[19,20],"(SS)":[21],"2":[22],"as":[23],"branch":[24],"chains":[25],"and":[26,47,68,80,104,121,136,155,184],"has":[27,44],"single":[29],"moving":[30,37,55],"platform":[31,38,56,79],"structure.":[32],"Compared":[33],"with":[34,84],"double":[36],"structure,":[39],"the":[40,51,64,69,73,77,81,92,95,100,113,117,122,125,132,169,173,195],"proposed":[41],"better":[45],"acceleration":[46,138],"deceleration":[48],"performance":[49],"since":[50],"mass":[52],"of":[53,63,76,94,116,124,172],"its":[54,185],"lighter.":[58],"An":[59],"inverse":[60],"kinematics":[61],"model":[62],"established,":[67],"corresponding":[70],"relationship":[71],"between":[72],"parameters":[75,123],"end-moving":[78],"active":[82],"arm":[83],"three":[85],"end-motion":[86],"laws":[87,97],"obtained,":[89],"followed":[90],"by":[91,98],"optimization":[93,152],"considering":[99],"laws\u2019":[102],"duration":[103],"stability.":[105],"A":[106,140],"Lam\u00e9":[107,126,144,175],"curve":[108,127,145,176],"used":[110],"to":[111,130,181],"transition":[112],"right-angled":[114],"part":[115],"traditional":[118,196],"gate":[119],"trajectory,":[120],"are":[128],"optimized":[129,174],"achieve":[131],"shortest":[133],"movement":[134],"time":[135],"minimum":[137],"peak.":[139],"solving":[143],"trajectory":[146],"interpolation":[147],"points":[148],"based":[149],"on":[150,162],"deduplication":[151],"proposed,":[154],"grasping":[157,170],"frequency":[158,171],"experiment":[159],"conducted":[161],"prototype.":[165],"Results":[166],"show":[167],"that":[168,192],"prototype":[177],"can":[178],"be":[179],"increased":[180],"147":[182],"times/min,":[183],"work":[186],"efficiency":[187],"54.7%":[189],"higher":[190],"than":[191],"obtained":[193],"using":[194],"Adept":[197],"gate-shaped":[198],"trajectory.":[199]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
