{"id":"https://openalex.org/W4405156100","doi":"https://doi.org/10.1017/s0263574724002005","title":"Type synthesis, analysis, and prototyping of 4R1H mechanisms","display_name":"Type synthesis, analysis, and prototyping of 4R1H mechanisms","publication_year":2024,"publication_date":"2024-12-01","ids":{"openalex":"https://openalex.org/W4405156100","doi":"https://doi.org/10.1017/s0263574724002005"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574724002005","is_oa":true,"landing_page_url":"https://doi.org/10.1017/s0263574724002005","pdf_url":"https://www.cambridge.org/core/services/aop-cambridge-core/content/view/59A40E61665CDD7AEF1E32203339077B/S0263574724002005a.pdf/div-class-title-type-synthesis-analysis-and-prototyping-of-4r1h-mechanisms-div.pdf","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":"bronze","oa_url":"https://www.cambridge.org/core/services/aop-cambridge-core/content/view/59A40E61665CDD7AEF1E32203339077B/S0263574724002005a.pdf/div-class-title-type-synthesis-analysis-and-prototyping-of-4r1h-mechanisms-div.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5053655787","display_name":"Alexey Fomin","orcid":"https://orcid.org/0000-0003-4071-8407"},"institutions":[{"id":"https://openalex.org/I1313323035","display_name":"Russian Academy of Sciences","ror":"https://ror.org/05qrfxd25","country_code":"RU","type":"government","lineage":["https://openalex.org/I1313323035"]},{"id":"https://openalex.org/I4210106329","display_name":"Russian Engineering Academy","ror":"https://ror.org/01fvvak72","country_code":"RU","type":"other","lineage":["https://openalex.org/I4210106329"]}],"countries":["RU"],"is_corresponding":true,"raw_author_name":"Alexey Fomin","raw_affiliation_strings":["Mechanical Engineering Research Institute of the Russian Academy of Sciences","Mechanical Engineering Research Institute of the Russian Academy of Sciences, Moscow, Russia"],"raw_orcid":"https://orcid.org/0000-0003-4071-8407","affiliations":[{"raw_affiliation_string":"Mechanical Engineering Research Institute of the Russian Academy of Sciences","institution_ids":["https://openalex.org/I1313323035","https://openalex.org/I4210106329"]},{"raw_affiliation_string":"Mechanical Engineering Research Institute of the Russian Academy of Sciences, Moscow, Russia","institution_ids":["https://openalex.org/I1313323035","https://openalex.org/I4210106329"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068893893","display_name":"A. V. Antonov","orcid":"https://orcid.org/0000-0002-3928-5440"},"institutions":[{"id":"https://openalex.org/I1313323035","display_name":"Russian Academy of Sciences","ror":"https://ror.org/05qrfxd25","country_code":"RU","type":"government","lineage":["https://openalex.org/I1313323035"]},{"id":"https://openalex.org/I4210106329","display_name":"Russian Engineering Academy","ror":"https://ror.org/01fvvak72","country_code":"RU","type":"other","lineage":["https://openalex.org/I4210106329"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Anton Antonov","raw_affiliation_strings":["Mechanical Engineering Research Institute of the Russian Academy of Sciences","Mechanical Engineering Research Institute of the Russian Academy of Sciences, Moscow, Russia"],"raw_orcid":"https://orcid.org/0000-0002-3928-5440","affiliations":[{"raw_affiliation_string":"Mechanical Engineering Research Institute of the Russian Academy of Sciences","institution_ids":["https://openalex.org/I1313323035","https://openalex.org/I4210106329"]},{"raw_affiliation_string":"Mechanical Engineering Research Institute of the Russian Academy of Sciences, Moscow, Russia","institution_ids":["https://openalex.org/I1313323035","https://openalex.org/I4210106329"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102930538","display_name":"\u0412. \u0410. \u0413\u043b\u0430\u0437\u0443\u043d\u043e\u0432","orcid":"https://orcid.org/0000-0002-4802-0217"},"institutions":[{"id":"https://openalex.org/I1313323035","display_name":"Russian Academy of Sciences","ror":"https://ror.org/05qrfxd25","country_code":"RU","type":"government","lineage":["https://openalex.org/I1313323035"]},{"id":"https://openalex.org/I4210106329","display_name":"Russian Engineering Academy","ror":"https://ror.org/01fvvak72","country_code":"RU","type":"other","lineage":["https://openalex.org/I4210106329"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Victor Glazunov","raw_affiliation_strings":["Mechanical Engineering Research Institute of the Russian Academy of Sciences","Mechanical Engineering Research Institute of the Russian Academy of Sciences, Moscow, Russia"],"raw_orcid":"https://orcid.org/0000-0002-4802-0217","affiliations":[{"raw_affiliation_string":"Mechanical Engineering Research Institute of the Russian Academy of Sciences","institution_ids":["https://openalex.org/I1313323035","https://openalex.org/I4210106329"]},{"raw_affiliation_string":"Mechanical Engineering Research Institute of the Russian Academy of Sciences, Moscow, Russia","institution_ids":["https://openalex.org/I1313323035","https://openalex.org/I4210106329"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5053655787"],"corresponding_institution_ids":["https://openalex.org/I1313323035","https://openalex.org/I4210106329"],"apc_list":null,"apc_paid":null,"fwci":0.3724,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":{"value":0.56835663,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":97},"biblio":{"volume":"42","issue":"12","first_page":"4200","last_page":"4222"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9876999855041504,"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":0.9876999855041504,"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/T11677","display_name":"Congenital heart defects research","score":0.9484000205993652,"subfield":{"id":"https://openalex.org/subfields/1312","display_name":"Molecular Biology"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10533","display_name":"Teaching and Learning Programming","score":0.9451000094413757,"subfield":{"id":"https://openalex.org/subfields/1706","display_name":"Computer Science Applications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/rapid-prototyping","display_name":"Rapid prototyping","score":0.6581761240959167},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5401481986045837},{"id":"https://openalex.org/keywords/engineering-drawing","display_name":"Engineering drawing","score":0.38619565963745117},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.3830549418926239},{"id":"https://openalex.org/keywords/software-engineering","display_name":"Software engineering","score":0.3735553026199341},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.3250303566455841},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2882755398750305},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.089846670627594}],"concepts":[{"id":"https://openalex.org/C2780395129","wikidata":"https://www.wikidata.org/wiki/Q1128971","display_name":"Rapid prototyping","level":2,"score":0.6581761240959167},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5401481986045837},{"id":"https://openalex.org/C199639397","wikidata":"https://www.wikidata.org/wiki/Q1788588","display_name":"Engineering drawing","level":1,"score":0.38619565963745117},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.3830549418926239},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.3735553026199341},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.3250303566455841},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2882755398750305},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.089846670627594}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574724002005","is_oa":true,"landing_page_url":"https://doi.org/10.1017/s0263574724002005","pdf_url":"https://www.cambridge.org/core/services/aop-cambridge-core/content/view/59A40E61665CDD7AEF1E32203339077B/S0263574724002005a.pdf/div-class-title-type-synthesis-analysis-and-prototyping-of-4r1h-mechanisms-div.pdf","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":{"id":"doi:10.1017/s0263574724002005","is_oa":true,"landing_page_url":"https://doi.org/10.1017/s0263574724002005","pdf_url":"https://www.cambridge.org/core/services/aop-cambridge-core/content/view/59A40E61665CDD7AEF1E32203339077B/S0263574724002005a.pdf/div-class-title-type-synthesis-analysis-and-prototyping-of-4r1h-mechanisms-div.pdf","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"},"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.7799999713897705}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4405156100.pdf","grobid_xml":"https://content.openalex.org/works/W4405156100.grobid-xml"},"referenced_works_count":43,"referenced_works":["https://openalex.org/W40111655","https://openalex.org/W842126275","https://openalex.org/W1597009130","https://openalex.org/W1989839234","https://openalex.org/W1990711080","https://openalex.org/W1999566389","https://openalex.org/W2053367484","https://openalex.org/W2060509038","https://openalex.org/W2067348114","https://openalex.org/W2120575449","https://openalex.org/W2225813005","https://openalex.org/W2287520742","https://openalex.org/W2479591332","https://openalex.org/W2734437026","https://openalex.org/W2773660709","https://openalex.org/W2904108582","https://openalex.org/W2936006409","https://openalex.org/W2945210240","https://openalex.org/W2953936845","https://openalex.org/W2995243182","https://openalex.org/W3005718900","https://openalex.org/W3013266836","https://openalex.org/W3015325857","https://openalex.org/W3040160274","https://openalex.org/W3162742098","https://openalex.org/W3169088851","https://openalex.org/W3171252885","https://openalex.org/W4205098193","https://openalex.org/W4213320597","https://openalex.org/W4234497146","https://openalex.org/W4235630635","https://openalex.org/W4248960794","https://openalex.org/W4250736910","https://openalex.org/W4251620183","https://openalex.org/W4256673617","https://openalex.org/W4307646163","https://openalex.org/W4308159679","https://openalex.org/W4321495527","https://openalex.org/W4366496022","https://openalex.org/W4383561712","https://openalex.org/W4385156695","https://openalex.org/W4388348099","https://openalex.org/W4404939529"],"related_works":["https://openalex.org/W2378988447","https://openalex.org/W2744482820","https://openalex.org/W2029991833","https://openalex.org/W2076758585","https://openalex.org/W2371826068","https://openalex.org/W2379392453","https://openalex.org/W2373851425","https://openalex.org/W1982613041","https://openalex.org/W2369506643","https://openalex.org/W2384464911"],"abstract_inverted_index":{"Abstract":[0],"The":[1,22,64],"article":[2],"introduces":[3],"a":[4,45,57,61,105,116],"novel":[5],"class":[6],"of":[7,29,74,107,138,156],"4R1H":[8,108],"mechanisms,":[9,31],"where":[10],"4R":[11],"indicates":[12,18],"four":[13],"revolute":[14],"joints":[15],"and":[16,40,119,125,140,154,182,196],"1H":[17],"one":[19,113,136,173],"helical":[20],"joint.":[21],"paper":[23],"starts":[24],"with":[25,38],"the":[26,71,84,99,133,158,168,178],"type":[27],"synthesis":[28,65,101],"these":[30,75,164],"which":[32,190],"involves":[33],"combining":[34],"two":[35,68,76],"kinematic":[36,48,77,85],"chains":[37],"planar":[39],"cylindrical":[41],"motion":[42,174],"types":[43],"into":[44],"single":[46],"closed-loop":[47],"chain.":[49],"If":[50],"we":[51,59,103,111,131,185],"fix":[52],"any":[53],"link":[54,94],"in":[55],"such":[56],"chain,":[58],"get":[60],"workable":[62],"mechanism.":[63],"procedure":[66],"considers":[67],"options":[69],"for":[70,172],"relative":[72],"arrangement":[73],"chains.":[78],"Adding":[79],"an":[80],"H":[81],"joint":[82],"to":[83,89,150,166,193],"chain":[86],"allows":[87],"us":[88,192],"design":[90,188],"mechanisms":[91],"whose":[92],"output":[93],"performs":[95],"spatial":[96],"motion.":[97],"Using":[98,128],"proposed":[100],"procedure,":[102],"develop":[104,194],"family":[106],"mechanisms.":[109],"Next,":[110],"choose":[112],"mechanism":[114,134,159],"as":[115],"representative":[117],"example":[118],"consider":[120],"its":[121,142],"mobility,":[122],"singularity,":[123],"kinematic,":[124],"dynamic":[126],"analysis.":[127],"screw":[129],"theory,":[130],"confirm":[132],"has":[135],"degree":[137],"freedom":[139],"determine":[141],"singular":[143],"configurations.":[144],"Kinematic":[145],"analysis":[146,162],"provides":[147],"closed-form":[148],"expressions":[149],"calculate":[151],"displacements,":[152],"velocities,":[153],"accelerations":[155],"all":[157],"links.":[160],"Dynamic":[161],"uses":[163],"results":[165],"compute":[167],"motor":[169],"torque":[170],"required":[171],"cycle.":[175],"To":[176],"verify":[177],"suggested":[179],"analytical":[180],"algorithms":[181],"obtained":[183],"results,":[184],"use":[186],"computer-aided":[187],"tools,":[189],"allow":[191],"virtual":[195],"physical":[197],"prototypes.":[198]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-31T08:31:51.225901","created_date":"2025-10-10T00:00:00"}
