{"id":"https://openalex.org/W4388638339","doi":"https://doi.org/10.1017/s0263574723001467","title":"Type synthesis and trajectory planning of 5-DOF redundantly actuated parallel robots with large output rotational angles for large workpieces","display_name":"Type synthesis and trajectory planning of 5-DOF redundantly actuated parallel robots with large output rotational angles for large workpieces","publication_year":2023,"publication_date":"2023-11-13","ids":{"openalex":"https://openalex.org/W4388638339","doi":"https://doi.org/10.1017/s0263574723001467"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574723001467","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574723001467","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/A5018298926","display_name":"Bingshan Jiang","orcid":"https://orcid.org/0000-0002-9471-8309"},"institutions":[{"id":"https://openalex.org/I4210123185","display_name":"Zhejiang Lab","ror":"https://ror.org/02m2h7991","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210123185"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Bingshan Jiang","raw_affiliation_strings":["Research Center for Intelligent Robotics, Research Institute of Interdisciplinary Innovation, Zhejiang Lab, Hangzhou, 311100, China"],"raw_orcid":"https://orcid.org/0000-0002-9471-8309","affiliations":[{"raw_affiliation_string":"Research Center for Intelligent Robotics, Research Institute of Interdisciplinary Innovation, Zhejiang Lab, Hangzhou, 311100, China","institution_ids":["https://openalex.org/I4210123185"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013942657","display_name":"Guanyu Huang","orcid":null},"institutions":[{"id":"https://openalex.org/I4210123185","display_name":"Zhejiang Lab","ror":"https://ror.org/02m2h7991","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210123185"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guanyu Huang","raw_affiliation_strings":["Research Center for Intelligent Robotics, Research Institute of Interdisciplinary Innovation, Zhejiang Lab, Hangzhou, 311100, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Research Center for Intelligent Robotics, Research Institute of Interdisciplinary Innovation, Zhejiang Lab, Hangzhou, 311100, China","institution_ids":["https://openalex.org/I4210123185"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039356472","display_name":"Shiqiang Zhu","orcid":"https://orcid.org/0000-0002-5687-4001"},"institutions":[{"id":"https://openalex.org/I4210123185","display_name":"Zhejiang Lab","ror":"https://ror.org/02m2h7991","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210123185"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shiqiang Zhu","raw_affiliation_strings":["Research Center for Intelligent Robotics, Research Institute of Interdisciplinary Innovation, Zhejiang Lab, Hangzhou, 311100, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Research Center for Intelligent Robotics, Research Institute of Interdisciplinary Innovation, Zhejiang Lab, Hangzhou, 311100, China","institution_ids":["https://openalex.org/I4210123185"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004005176","display_name":"Hairong Fang","orcid":"https://orcid.org/0000-0001-7938-4737"},"institutions":[{"id":"https://openalex.org/I21193070","display_name":"Beijing Jiaotong University","ror":"https://ror.org/01yj56c84","country_code":"CN","type":"education","lineage":["https://openalex.org/I21193070"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hairong Fang","raw_affiliation_strings":["Department of Mechanical Engineering, Beijing Jiaotong University, Beijing, 100044, China"],"raw_orcid":"https://orcid.org/0000-0001-7938-4737","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Beijing Jiaotong University, Beijing, 100044, China","institution_ids":["https://openalex.org/I21193070"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101996588","display_name":"Xinyu Tian","orcid":"https://orcid.org/0009-0007-7637-7962"},"institutions":[{"id":"https://openalex.org/I21193070","display_name":"Beijing Jiaotong University","ror":"https://ror.org/01yj56c84","country_code":"CN","type":"education","lineage":["https://openalex.org/I21193070"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinyu Tian","raw_affiliation_strings":["Department of Mechanical Engineering, Beijing Jiaotong University, Beijing, 100044, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Beijing Jiaotong University, Beijing, 100044, China","institution_ids":["https://openalex.org/I21193070"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032102869","display_name":"Anhuan Xie","orcid":"https://orcid.org/0000-0002-8348-0067"},"institutions":[{"id":"https://openalex.org/I4210123185","display_name":"Zhejiang Lab","ror":"https://ror.org/02m2h7991","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210123185"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Anhuan Xie","raw_affiliation_strings":["Research Center for Intelligent Robotics, Research Institute of Interdisciplinary Innovation, Zhejiang Lab, Hangzhou, 311100, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Research Center for Intelligent Robotics, Research Institute of Interdisciplinary Innovation, Zhejiang Lab, Hangzhou, 311100, China","institution_ids":["https://openalex.org/I4210123185"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100322307","display_name":"Lan Zhang","orcid":"https://orcid.org/0000-0002-7049-8970"},"institutions":[{"id":"https://openalex.org/I4210123185","display_name":"Zhejiang Lab","ror":"https://ror.org/02m2h7991","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210123185"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lan Zhang","raw_affiliation_strings":["Research Center for Intelligent Robotics, Research Institute of Interdisciplinary Innovation, Zhejiang Lab, Hangzhou, 311100, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Research Center for Intelligent Robotics, Research Institute of Interdisciplinary Innovation, Zhejiang Lab, Hangzhou, 311100, China","institution_ids":["https://openalex.org/I4210123185"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043176786","display_name":"Pengyu Zhao","orcid":"https://orcid.org/0000-0002-0514-2548"},"institutions":[{"id":"https://openalex.org/I4210123185","display_name":"Zhejiang Lab","ror":"https://ror.org/02m2h7991","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210123185"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Pengyu Zhao","raw_affiliation_strings":["Research Center for Intelligent Robotics, Research Institute of Interdisciplinary Innovation, Zhejiang Lab, Hangzhou, 311100, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Research Center for Intelligent Robotics, Research Institute of Interdisciplinary Innovation, Zhejiang Lab, Hangzhou, 311100, China","institution_ids":["https://openalex.org/I4210123185"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100562972","display_name":"Jianjun Gu","orcid":null},"institutions":[{"id":"https://openalex.org/I4210123185","display_name":"Zhejiang Lab","ror":"https://ror.org/02m2h7991","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210123185"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianjun Gu","raw_affiliation_strings":["Research Center for Intelligent Robotics, Research Institute of Interdisciplinary Innovation, Zhejiang Lab, Hangzhou, 311100, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Research Center for Intelligent Robotics, Research Institute of Interdisciplinary Innovation, Zhejiang Lab, Hangzhou, 311100, China","institution_ids":["https://openalex.org/I4210123185"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010512193","display_name":"Lingyu Kong","orcid":"https://orcid.org/0000-0002-5484-8440"},"institutions":[{"id":"https://openalex.org/I4210123185","display_name":"Zhejiang Lab","ror":"https://ror.org/02m2h7991","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210123185"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Lingyu Kong","raw_affiliation_strings":["Research Center for Intelligent Robotics, Research Institute of Interdisciplinary Innovation, Zhejiang Lab, Hangzhou, 311100, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Research Center for Intelligent Robotics, Research Institute of Interdisciplinary Innovation, Zhejiang Lab, Hangzhou, 311100, China","institution_ids":["https://openalex.org/I4210123185"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":10,"corresponding_author_ids":["https://openalex.org/A5010512193","https://openalex.org/A5018298926"],"corresponding_institution_ids":["https://openalex.org/I4210123185"],"apc_list":null,"apc_paid":null,"fwci":0.6989,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.71031233,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"42","issue":"1","first_page":"242","last_page":"264"},"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":0.9973000288009644,"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/T11301","display_name":"Advanced Surface Polishing Techniques","score":0.9955999851226807,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/aerospace","display_name":"Aerospace","score":0.7253718972206116},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5895569324493408},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5469527244567871},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.508597731590271},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4825946092605591},{"id":"https://openalex.org/keywords/translation","display_name":"Translation (biology)","score":0.44998714327812195},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.42794808745384216},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.4228549003601074},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.31881478428840637},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.2032487988471985},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13550910353660583},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.13480395078659058}],"concepts":[{"id":"https://openalex.org/C167740415","wikidata":"https://www.wikidata.org/wiki/Q2876213","display_name":"Aerospace","level":2,"score":0.7253718972206116},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5895569324493408},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5469527244567871},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.508597731590271},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4825946092605591},{"id":"https://openalex.org/C149364088","wikidata":"https://www.wikidata.org/wiki/Q185917","display_name":"Translation (biology)","level":4,"score":0.44998714327812195},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.42794808745384216},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.4228549003601074},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.31881478428840637},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.2032487988471985},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13550910353660583},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.13480395078659058},{"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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C105580179","wikidata":"https://www.wikidata.org/wiki/Q188928","display_name":"Messenger RNA","level":3,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574723001467","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574723001467","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":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W328472716","https://openalex.org/W647721327","https://openalex.org/W1866068186","https://openalex.org/W1963976266","https://openalex.org/W1967911984","https://openalex.org/W1988543053","https://openalex.org/W1991206179","https://openalex.org/W2007369912","https://openalex.org/W2077414981","https://openalex.org/W2099732938","https://openalex.org/W2128203418","https://openalex.org/W2557131109","https://openalex.org/W2591807768","https://openalex.org/W2607108789","https://openalex.org/W2618403255","https://openalex.org/W2735544640","https://openalex.org/W2750532880","https://openalex.org/W2760612832","https://openalex.org/W2794804779","https://openalex.org/W2805422627","https://openalex.org/W3037415939","https://openalex.org/W3127306101","https://openalex.org/W3140801635","https://openalex.org/W3141381912","https://openalex.org/W3174278108","https://openalex.org/W3192890570","https://openalex.org/W4200402431","https://openalex.org/W4205750219","https://openalex.org/W4213433374","https://openalex.org/W4226444630","https://openalex.org/W4283830385","https://openalex.org/W4313593204","https://openalex.org/W4318055206","https://openalex.org/W4365998566","https://openalex.org/W6752310520","https://openalex.org/W7019376664"],"related_works":["https://openalex.org/W1655720158","https://openalex.org/W1980419027","https://openalex.org/W2365202314","https://openalex.org/W2369361542","https://openalex.org/W769655569","https://openalex.org/W1499828956","https://openalex.org/W647759170","https://openalex.org/W2366854666","https://openalex.org/W2595523213","https://openalex.org/W2006176066"],"abstract_inverted_index":{"Abstract":[0],"Aerospace":[1],"represents":[2,143,146,183],"the":[3,23,34,58,71,88,156,172,184,197,205,208,220,224],"development":[4],"of":[5,25,41,62,70,80,87,133,140,164,207,228],"national":[6],"science":[7],"and":[8,18,77,122,130,137,149,203,234],"technology.":[9],"It":[10],"is":[11,44,54,91,167],"an":[12,19,45,162],"important":[13,20,46],"foundation":[14,221],"for":[15,22,222],"exploring":[16],"space":[17],"guarantee":[21],"construction":[24],"aerospace":[26,35],"power.":[27],"There":[28],"are":[29,135,152],"many":[30],"large":[31,42,63,114,160,201,229],"workpieces":[32,43,230],"in":[33,179,214],"field.":[36],"The":[37,65,84,193],"box":[38,59,225],"insulation":[39,60,226],"layer":[40,61,227],"processing":[47,52,67,223],"problem.":[48],"A":[49],"new":[50,103,209],"thick":[51,66],"equipment":[53,68],"proposed":[55,189,210],"to":[56,105],"process":[57],"workpieces.":[64],"consists":[69],"XYZ":[72],"shaft":[73],"long":[74],"guide":[75],"rail":[76],"five":[78],"degrees":[79],"freedom":[81],"(5-DOF)":[82],"RAPA.":[83],"mechanical":[85],"structure":[86],"5-DOF":[89,107],"RAPA":[90],"a":[92,102,138,187],"redundantly":[93,108],"actuated":[94,109],"parallel":[95,110],"mechanism":[96,176,199],"(RAPM).":[97],"Meanwhile,":[98],"this":[99,181],"paper":[100,182],"proposes":[101],"method":[104,213],"design":[106],"mechanisms":[111],"(RAPMs)":[112],"with":[113,159,231],"output":[115],"rotational":[116],"angles.":[117],"Based":[118],"on":[119],"configuration":[120],"evolution":[121],"Li":[123],"group,":[124],"two":[125],"articulated":[126],"moving":[127],"platforms":[128],"(AMPs)":[129],"four":[131],"kinds":[132],"limbs":[134],"designed,":[136],"series":[139],"3T2R":[141],"(T":[142],"translation,":[144],"R":[145],"rotation)":[147],"RAPMs":[148,151,158],"2T3R":[150],"synthesized.":[153],"To":[154,169],"verify":[155],"designed":[157],"angle,":[161],"example":[163],"RAPMs,":[165],"4UPS-{2UPR}-R":[166],"analyzed.":[168],"ensure":[170],"that":[171,196],"RAPM":[173,185],"has":[174],"no":[175],"vibration":[177],"impact":[178],"movement,":[180],"adopts":[186],"newly":[188],"trajectory":[190,211],"planning":[191,212],"method.":[192],"results":[194],"show":[195],"4SPU-(2UPR)R":[198],"possesses":[200],"angles":[202],"verifies":[204],"efficiency":[206],"simplified":[215],"trajectories.":[216],"This":[217],"work":[218],"lays":[219],"straight":[232],"lines":[233],"arcs":[235],"paths.":[236]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
