{"id":"https://openalex.org/W4213096803","doi":"https://doi.org/10.1017/s0263574721001971","title":"Full dynamic model of 3-U<u>P</u>U translational parallel manipulator for model-based control schemes","display_name":"Full dynamic model of 3-U<u>P</u>U translational parallel manipulator for model-based control schemes","publication_year":2022,"publication_date":"2022-02-17","ids":{"openalex":"https://openalex.org/W4213096803","doi":"https://doi.org/10.1017/s0263574721001971"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574721001971","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574721001971","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/A5023811425","display_name":"Ali Hassani","orcid":"https://orcid.org/0000-0003-2420-1299"},"institutions":[{"id":"https://openalex.org/I80543232","display_name":"K.N.Toosi University of Technology","ror":"https://ror.org/0433abe34","country_code":"IR","type":"education","lineage":["https://openalex.org/I80543232"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Ali Hassani","raw_affiliation_strings":["Advanced Robotics and Automated Systems (ARAS), Industrial Control Center of Excellence, Faculty of Electrical Engineering, K. N. Toosi University of Technology, Tehran 1969764499, Iran"],"raw_orcid":"https://orcid.org/0000-0003-2420-1299","affiliations":[{"raw_affiliation_string":"Advanced Robotics and Automated Systems (ARAS), Industrial Control Center of Excellence, Faculty of Electrical Engineering, K. N. Toosi University of Technology, Tehran 1969764499, Iran","institution_ids":["https://openalex.org/I80543232"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029079809","display_name":"S. A. Khalilpour","orcid":"https://orcid.org/0000-0001-5783-133X"},"institutions":[{"id":"https://openalex.org/I80543232","display_name":"K.N.Toosi University of Technology","ror":"https://ror.org/0433abe34","country_code":"IR","type":"education","lineage":["https://openalex.org/I80543232"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"S. A. Khalilpour","raw_affiliation_strings":["Advanced Robotics and Automated Systems (ARAS), Industrial Control Center of Excellence, Faculty of Electrical Engineering, K. N. Toosi University of Technology, Tehran 1969764499, Iran"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Advanced Robotics and Automated Systems (ARAS), Industrial Control Center of Excellence, Faculty of Electrical Engineering, K. N. Toosi University of Technology, Tehran 1969764499, Iran","institution_ids":["https://openalex.org/I80543232"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103941952","display_name":"Abbas Bataleblu","orcid":null},"institutions":[{"id":"https://openalex.org/I80543232","display_name":"K.N.Toosi University of Technology","ror":"https://ror.org/0433abe34","country_code":"IR","type":"education","lineage":["https://openalex.org/I80543232"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Abbas Bataleblu","raw_affiliation_strings":["Advanced Robotics and Automated Systems (ARAS), Industrial Control Center of Excellence, Faculty of Electrical Engineering, K. N. Toosi University of Technology, Tehran 1969764499, Iran"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Advanced Robotics and Automated Systems (ARAS), Industrial Control Center of Excellence, Faculty of Electrical Engineering, K. N. Toosi University of Technology, Tehran 1969764499, Iran","institution_ids":["https://openalex.org/I80543232"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5070019550","display_name":"Hamid D. Taghirad","orcid":"https://orcid.org/0000-0002-0615-6730"},"institutions":[{"id":"https://openalex.org/I80543232","display_name":"K.N.Toosi University of Technology","ror":"https://ror.org/0433abe34","country_code":"IR","type":"education","lineage":["https://openalex.org/I80543232"]}],"countries":["IR"],"is_corresponding":true,"raw_author_name":"Hamid D. Taghirad","raw_affiliation_strings":["Advanced Robotics and Automated Systems (ARAS), Industrial Control Center of Excellence, Faculty of Electrical Engineering, K. N. Toosi University of Technology, Tehran 1969764499, Iran"],"raw_orcid":"https://orcid.org/0000-0002-0615-6730","affiliations":[{"raw_affiliation_string":"Advanced Robotics and Automated Systems (ARAS), Industrial Control Center of Excellence, Faculty of Electrical Engineering, K. N. Toosi University of Technology, Tehran 1969764499, Iran","institution_ids":["https://openalex.org/I80543232"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5070019550"],"corresponding_institution_ids":["https://openalex.org/I80543232"],"apc_list":null,"apc_paid":null,"fwci":1.0916,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.75261725,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":"40","issue":"8","first_page":"2815","last_page":"2830"},"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/T11525","display_name":"Piezoelectric Actuators and Control","score":0.9909999966621399,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9824000000953674,"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/parallel-manipulator","display_name":"Parallel manipulator","score":0.7545648813247681},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6632500886917114},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5745185613632202},{"id":"https://openalex.org/keywords/dynamic-equation","display_name":"Dynamic equation","score":0.5622297525405884},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.561308741569519},{"id":"https://openalex.org/keywords/virtual-work","display_name":"Virtual work","score":0.517727792263031},{"id":"https://openalex.org/keywords/system-dynamics","display_name":"System dynamics","score":0.508506178855896},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4657600224018097},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.4569350779056549},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.44167113304138184},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.43221575021743774},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.38954201340675354},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3709180951118469},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2114793360233307},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17330214381217957},{"id":"https://openalex.org/keywords/finite-element-method","display_name":"Finite element method","score":0.11123761534690857},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08416691422462463}],"concepts":[{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.7545648813247681},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6632500886917114},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5745185613632202},{"id":"https://openalex.org/C2989370511","wikidata":"https://www.wikidata.org/wiki/Q18381590","display_name":"Dynamic equation","level":3,"score":0.5622297525405884},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.561308741569519},{"id":"https://openalex.org/C136560751","wikidata":"https://www.wikidata.org/wiki/Q1144923","display_name":"Virtual work","level":3,"score":0.517727792263031},{"id":"https://openalex.org/C77405623","wikidata":"https://www.wikidata.org/wiki/Q598451","display_name":"System dynamics","level":2,"score":0.508506178855896},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4657600224018097},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.4569350779056549},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.44167113304138184},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.43221575021743774},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.38954201340675354},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3709180951118469},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2114793360233307},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17330214381217957},{"id":"https://openalex.org/C135628077","wikidata":"https://www.wikidata.org/wiki/Q220184","display_name":"Finite element method","level":2,"score":0.11123761534690857},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08416691422462463},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.0},{"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"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/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574721001971","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574721001971","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":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W264210463","https://openalex.org/W1256870269","https://openalex.org/W1585399439","https://openalex.org/W1985558913","https://openalex.org/W1988266600","https://openalex.org/W1990447791","https://openalex.org/W1993104626","https://openalex.org/W2012833326","https://openalex.org/W2066220695","https://openalex.org/W2074599523","https://openalex.org/W2075548109","https://openalex.org/W2076261642","https://openalex.org/W2078757631","https://openalex.org/W2095646014","https://openalex.org/W2098196740","https://openalex.org/W2100350844","https://openalex.org/W2112157908","https://openalex.org/W2113054159","https://openalex.org/W2149661859","https://openalex.org/W2155224232","https://openalex.org/W2172521669","https://openalex.org/W2226213058","https://openalex.org/W2416766517","https://openalex.org/W2624662260","https://openalex.org/W2885945820","https://openalex.org/W2906583701","https://openalex.org/W2970396017","https://openalex.org/W2999494554","https://openalex.org/W3036390225","https://openalex.org/W3111775441","https://openalex.org/W4231234912","https://openalex.org/W4233826514","https://openalex.org/W4365799847","https://openalex.org/W6647572008"],"related_works":["https://openalex.org/W2145154791","https://openalex.org/W2361688797","https://openalex.org/W2152470674","https://openalex.org/W192519934","https://openalex.org/W2973099332","https://openalex.org/W625831653","https://openalex.org/W2122703848","https://openalex.org/W2040043604","https://openalex.org/W2351578635","https://openalex.org/W2245609016"],"abstract_inverted_index":{"Abstract":[0],"Optimal":[1],"mechanical":[2],"design,":[3],"model-based":[4,79],"control,":[5],"and":[6,37,100],"robot":[7,17,66],"dynamic":[8,51,62,105,121],"calibration":[9],"mainly":[10],"rely":[11],"on":[12],"the":[13,22,41,44,48,60,65,71,83,89,101,104,115,119],"analytical":[14],"formulation":[15,63,106,122],"of":[16,25,43,64,73,77,88,103,118],"dynamics.":[18],"In":[19],"this":[20,110,125],"paper,":[21],"kinematics":[23],"equations":[24],"a":[26,74,86],"general":[27],"3-U":[28,90],"P":[29,91],"U":[30,92],"translational":[31],"parallel":[32],"manipulator":[33],"(TPM)":[34],"are":[35,107],"derived,":[36],"then,":[38],"by":[39,56],"using":[40,109],"principle":[42],"virtual":[45],"work":[46],"theorem,":[47],"full":[49],"implicit":[50],"model":[52],"is":[53,67,70,94],"derived.":[54],"Furthermore,":[55],"making":[57],"some":[58],"modifications,":[59],"explicit":[61],"attained,":[68],"which":[69],"basis":[72],"wide":[75],"range":[76],"advanced":[78],"controllers.":[80],"To":[81],"validate":[82],"proposed":[84,120],"formulation,":[85],"prototype":[87],"TPM":[93],"modeled":[95],"in":[96,124],"MSC-ADAMS":[97],"\u00ae":[98],"software,":[99],"results":[102,113],"validated":[108],"model.":[111],"The":[112],"show":[114],"high":[116],"accuracy":[117],"presented":[123],"article.":[126]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
