{"id":"https://openalex.org/W4226457890","doi":"https://doi.org/10.1017/s0263574722000431","title":"A class of novel underactuated positioning systems for actuating/configuring the parallel manipulators","display_name":"A class of novel underactuated positioning systems for actuating/configuring the parallel manipulators","publication_year":2022,"publication_date":"2022-04-05","ids":{"openalex":"https://openalex.org/W4226457890","doi":"https://doi.org/10.1017/s0263574722000431"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574722000431","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574722000431","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":"https://nottingham-repository.worktribe.com/output/7840080","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5038779888","display_name":"Nan Ma","orcid":"https://orcid.org/0000-0003-0261-5212"},"institutions":[{"id":"https://openalex.org/I142263535","display_name":"University of Nottingham","ror":"https://ror.org/01ee9ar58","country_code":"GB","type":"education","lineage":["https://openalex.org/I142263535"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Nan Ma","raw_affiliation_strings":["Department of Mechanical, Materials and Manufacturing Engineering, School of Engineering, University of Nottingham, Nottingham, UK"],"raw_orcid":"https://orcid.org/0000-0003-0261-5212","affiliations":[{"raw_affiliation_string":"Department of Mechanical, Materials and Manufacturing Engineering, School of Engineering, University of Nottingham, Nottingham, UK","institution_ids":["https://openalex.org/I142263535"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087034933","display_name":"Xin Dong","orcid":"https://orcid.org/0000-0001-9337-9379"},"institutions":[{"id":"https://openalex.org/I142263535","display_name":"University of Nottingham","ror":"https://ror.org/01ee9ar58","country_code":"GB","type":"education","lineage":["https://openalex.org/I142263535"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Xin Dong","raw_affiliation_strings":["Department of Mechanical, Materials and Manufacturing Engineering, School of Engineering, University of Nottingham, Nottingham, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical, Materials and Manufacturing Engineering, School of Engineering, University of Nottingham, Nottingham, UK","institution_ids":["https://openalex.org/I142263535"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045977599","display_name":"Josue Camacho Arreguin","orcid":null},"institutions":[{"id":"https://openalex.org/I142263535","display_name":"University of Nottingham","ror":"https://ror.org/01ee9ar58","country_code":"GB","type":"education","lineage":["https://openalex.org/I142263535"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Josue Camacho Arreguin","raw_affiliation_strings":["Department of Mechanical, Materials and Manufacturing Engineering, School of Engineering, University of Nottingham, Nottingham, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical, Materials and Manufacturing Engineering, School of Engineering, University of Nottingham, Nottingham, UK","institution_ids":["https://openalex.org/I142263535"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077288632","display_name":"Christopher Bishop","orcid":"https://orcid.org/0000-0001-9999-7944"},"institutions":[{"id":"https://openalex.org/I142263535","display_name":"University of Nottingham","ror":"https://ror.org/01ee9ar58","country_code":"GB","type":"education","lineage":["https://openalex.org/I142263535"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Christopher Bishop","raw_affiliation_strings":["Department of Mechanical, Materials and Manufacturing Engineering, School of Engineering, University of Nottingham, Nottingham, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical, Materials and Manufacturing Engineering, School of Engineering, University of Nottingham, Nottingham, UK","institution_ids":["https://openalex.org/I142263535"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5015263836","display_name":"Drago\u015f Axinte","orcid":"https://orcid.org/0000-0002-3595-0933"},"institutions":[{"id":"https://openalex.org/I142263535","display_name":"University of Nottingham","ror":"https://ror.org/01ee9ar58","country_code":"GB","type":"education","lineage":["https://openalex.org/I142263535"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Dragos Axinte","raw_affiliation_strings":["Department of Mechanical, Materials and Manufacturing Engineering, School of Engineering, University of Nottingham, Nottingham, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical, Materials and Manufacturing Engineering, School of Engineering, University of Nottingham, Nottingham, UK","institution_ids":["https://openalex.org/I142263535"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5087034933"],"corresponding_institution_ids":["https://openalex.org/I142263535"],"apc_list":null,"apc_paid":null,"fwci":0.4525,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.52924415,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"40","issue":"10","first_page":"3631","last_page":"3650"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10865","display_name":"Shape Memory Alloy Transformations","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2505","display_name":"Materials Chemistry"},"field":{"id":"https://openalex.org/fields/25","display_name":"Materials Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10865","display_name":"Shape Memory Alloy Transformations","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2505","display_name":"Materials Chemistry"},"field":{"id":"https://openalex.org/fields/25","display_name":"Materials Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9854999780654907,"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/T11525","display_name":"Piezoelectric Actuators and Control","score":0.9689000248908997,"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/underactuation","display_name":"Underactuation","score":0.7995694875717163},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6616936326026917},{"id":"https://openalex.org/keywords/clutch","display_name":"Clutch","score":0.6543101668357849},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6021922826766968},{"id":"https://openalex.org/keywords/sma*","display_name":"SMA*","score":0.551928699016571},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5429250597953796},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5087056756019592},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.49552643299102783},{"id":"https://openalex.org/keywords/tracking-error","display_name":"Tracking error","score":0.4780633747577667},{"id":"https://openalex.org/keywords/exoskeleton","display_name":"Exoskeleton","score":0.4473233222961426},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.32688093185424805},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.25662416219711304},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.15562531352043152},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14465919137001038},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.1371205449104309},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.09190341830253601},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08755534887313843},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.07984182238578796}],"concepts":[{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.7995694875717163},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6616936326026917},{"id":"https://openalex.org/C30358287","wikidata":"https://www.wikidata.org/wiki/Q194302","display_name":"Clutch","level":2,"score":0.6543101668357849},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6021922826766968},{"id":"https://openalex.org/C161921814","wikidata":"https://www.wikidata.org/wiki/Q493743","display_name":"SMA*","level":2,"score":0.551928699016571},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5429250597953796},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5087056756019592},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.49552643299102783},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.4780633747577667},{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.4473233222961426},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.32688093185424805},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25662416219711304},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.15562531352043152},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14465919137001038},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.1371205449104309},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.09190341830253601},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08755534887313843},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.07984182238578796},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1017/s0263574722000431","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574722000431","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:nottingham-repository.worktribe.com:7840080","is_oa":true,"landing_page_url":"https://nottingham-repository.worktribe.com/output/7840080","pdf_url":null,"source":{"id":"https://openalex.org/S4306402483","display_name":"Repository@Nottingham (University of Nottingham)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I142263535","host_organization_name":"University of Nottingham","host_organization_lineage":["https://openalex.org/I142263535"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Journal Article"}],"best_oa_location":{"id":"pmh:oai:nottingham-repository.worktribe.com:7840080","is_oa":true,"landing_page_url":"https://nottingham-repository.worktribe.com/output/7840080","pdf_url":null,"source":{"id":"https://openalex.org/S4306402483","display_name":"Repository@Nottingham (University of Nottingham)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I142263535","host_organization_name":"University of Nottingham","host_organization_lineage":["https://openalex.org/I142263535"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Journal Article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W1963674840","https://openalex.org/W1973565005","https://openalex.org/W1977039175","https://openalex.org/W1978849564","https://openalex.org/W1987828839","https://openalex.org/W2013371508","https://openalex.org/W2021277416","https://openalex.org/W2023140429","https://openalex.org/W2031303964","https://openalex.org/W2044814751","https://openalex.org/W2052108890","https://openalex.org/W2052126122","https://openalex.org/W2086778229","https://openalex.org/W2088463206","https://openalex.org/W2094170729","https://openalex.org/W2111780668","https://openalex.org/W2117986791","https://openalex.org/W2146940217","https://openalex.org/W2150950995","https://openalex.org/W2157570937","https://openalex.org/W2164981688","https://openalex.org/W2521505120","https://openalex.org/W2609310386","https://openalex.org/W2806544019","https://openalex.org/W2885174778","https://openalex.org/W2895232491","https://openalex.org/W2911852994","https://openalex.org/W2979838523","https://openalex.org/W3007768916","https://openalex.org/W3107147196","https://openalex.org/W4210340715","https://openalex.org/W4251092341","https://openalex.org/W6672297946","https://openalex.org/W6755351546","https://openalex.org/W6807791309"],"related_works":["https://openalex.org/W3108645022","https://openalex.org/W2362877944","https://openalex.org/W2604525045","https://openalex.org/W1970515820","https://openalex.org/W2328815629","https://openalex.org/W1841497340","https://openalex.org/W4379967118","https://openalex.org/W3165529266","https://openalex.org/W2738109399","https://openalex.org/W2126607016"],"abstract_inverted_index":{"Abstract":[0],"Parallel":[1],"manipulators":[2,75],"are":[3,28],"increasingly":[4],"utilized":[5],"in":[6,30,151,233],"extensive":[7],"industrial":[8],"applications":[9],"due":[10],"to":[11,70,91,101],"their":[12],"high":[13,210,239],"accuracy,":[14],"compact":[15],"structure,":[16],"and":[17,32,42,132,216],"significant":[18,177],"stiffness":[19],"characteristics.":[20],"However,":[21],"most":[22],"of":[23,58,96,107,116,146,160,171,183,189,247],"the":[24,39,64,72,93,103,108,117,122,127,135,143,147,158,168,172,180,184,190,196,201,204,225,234,245],"time,":[25],"massive":[26],"actuators":[27],"involved":[29],"constructing":[31],"controlling":[33],"a":[34,48,82,111,176],"parallel":[35],"manipulator,":[36],"which":[37,120],"burdens":[38],"structure":[40],"design":[41],"controller":[43],"development.":[44],"In":[45],"this":[46,152],"paper,":[47],"novel":[49],"underactuated":[50,197,226],"positioning":[51,65,94,98,109,198,206,211,227,236],"system":[52,199,228],"been":[53],"built":[54,131],"by":[55,134],"different":[56],"sets":[57],"linear":[59],"motion":[60,105],"units":[61],"(defined":[62],"as":[63],"lines)":[66],"is":[67,89],"proposed,":[68],"enabling":[69],"actuate":[71],"multiple":[73],"degree-of-freedom":[74],"with":[76,238],"one":[77],"motor.":[78],"To":[79],"achieve":[80,209],"this,":[81],"smart":[83],"shape":[84],"memory":[85],"alloy":[86],"(SMA)":[87],"clutch":[88,149,186],"presented":[90],"obtain":[92],"function":[95],"each":[97],"line.":[99],"Further,":[100],"get":[102],"decoupled":[104,231],"regulation":[106],"lines,":[110],"new":[112],"thermal":[113],"kinematic":[114],"model":[115,145,181,191],"SMA":[118,148,185],"clutch,":[119],"considers":[121],"heat":[123,169],"dissipation":[124,170],"influence":[125,178],"on":[126,179,195],"metal":[128,173],"components,":[129],"was":[130],"validated":[133,156],"physical":[136],"prototypes.":[137],"The":[138,193],"experimental":[139],"results":[140],"show":[141],"that":[142,167],"constitutive":[144],"developed":[150],"paper":[153],"can":[154,163,208,229],"be":[155,165],"within":[157,244],"error":[159,220],"5.3%.":[161],"It":[162],"also":[164],"found":[166],"component":[174],"has":[175],"accuracy":[182,240],"(i.e.,":[187,212,218,241],"2.6%":[188],"accuracy).":[192],"experiments":[194],"produce":[200],"following":[202],"results:":[203],"single":[205],"line":[207],"average":[213,219],"error:":[214],"1.01%)":[215],"tracking":[217],"$\\leq$":[221],"1":[222],"mm)":[223],"abilities;":[224],"perform":[230],"motions":[232],"three":[235],"lines":[237],"\u00b12":[242],"mm":[243],"stroke":[246],"180":[248],"mm).":[249]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}