{"id":"https://openalex.org/W4410839856","doi":"https://doi.org/10.1017/s026357472500058x","title":"Dynamic analysis of a mobile parallel manipulator with imperfect revolute joints","display_name":"Dynamic analysis of a mobile parallel manipulator with imperfect revolute joints","publication_year":2025,"publication_date":"2025-05-29","ids":{"openalex":"https://openalex.org/W4410839856","doi":"https://doi.org/10.1017/s026357472500058x"},"language":"en","primary_location":{"id":"doi:10.1017/s026357472500058x","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s026357472500058x","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/A5100758452","display_name":"Yuwei Yang","orcid":"https://orcid.org/0000-0002-7742-2864"},"institutions":[{"id":"https://openalex.org/I136765683","display_name":"Tianjin University of Technology","ror":"https://ror.org/00zbe0w13","country_code":"CN","type":"education","lineage":["https://openalex.org/I136765683"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuwei Yang","raw_affiliation_strings":["Tianjin University of Technology","National Demonstration Center for Experimental Mechanical and Electrical Engineering Education, Tianjin University of Technology, Tianjin, 300384, P.R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tianjin University of Technology","institution_ids":["https://openalex.org/I136765683"]},{"raw_affiliation_string":"National Demonstration Center for Experimental Mechanical and Electrical Engineering Education, Tianjin University of Technology, Tianjin, 300384, P.R. China","institution_ids":["https://openalex.org/I136765683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111036284","display_name":"Xiaoshuang Lv","orcid":null},"institutions":[{"id":"https://openalex.org/I136765683","display_name":"Tianjin University of Technology","ror":"https://ror.org/00zbe0w13","country_code":"CN","type":"education","lineage":["https://openalex.org/I136765683"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xingchang Lv","raw_affiliation_strings":["Tianjin University of Technology","National Demonstration Center for Experimental Mechanical and Electrical Engineering Education, Tianjin University of Technology, Tianjin, 300384, P.R. China"],"raw_orcid":"https://orcid.org/0009-0000-9699-4246","affiliations":[{"raw_affiliation_string":"Tianjin University of Technology","institution_ids":["https://openalex.org/I136765683"]},{"raw_affiliation_string":"National Demonstration Center for Experimental Mechanical and Electrical Engineering Education, Tianjin University of Technology, Tianjin, 300384, P.R. China","institution_ids":["https://openalex.org/I136765683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102737701","display_name":"Zhaotong Li","orcid":"https://orcid.org/0000-0001-9434-9948"},"institutions":[{"id":"https://openalex.org/I136765683","display_name":"Tianjin University of Technology","ror":"https://ror.org/00zbe0w13","country_code":"CN","type":"education","lineage":["https://openalex.org/I136765683"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhaotong Li","raw_affiliation_strings":["Tianjin University of Technology","National Demonstration Center for Experimental Mechanical and Electrical Engineering Education, Tianjin University of Technology, Tianjin, 300384, P.R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tianjin University of Technology","institution_ids":["https://openalex.org/I136765683"]},{"raw_affiliation_string":"National Demonstration Center for Experimental Mechanical and Electrical Engineering Education, Tianjin University of Technology, Tianjin, 300384, P.R. China","institution_ids":["https://openalex.org/I136765683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027882682","display_name":"Jiapeng Yin","orcid":"https://orcid.org/0009-0003-0910-5634"},"institutions":[{"id":"https://openalex.org/I136765683","display_name":"Tianjin University of Technology","ror":"https://ror.org/00zbe0w13","country_code":"CN","type":"education","lineage":["https://openalex.org/I136765683"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiapeng Yin","raw_affiliation_strings":["Tianjin University of Technology","National Demonstration Center for Experimental Mechanical and Electrical Engineering Education, Tianjin University of Technology, Tianjin, 300384, P.R. China"],"raw_orcid":"https://orcid.org/0009-0003-0910-5634","affiliations":[{"raw_affiliation_string":"Tianjin University of Technology","institution_ids":["https://openalex.org/I136765683"]},{"raw_affiliation_string":"National Demonstration Center for Experimental Mechanical and Electrical Engineering Education, Tianjin University of Technology, Tianjin, 300384, P.R. China","institution_ids":["https://openalex.org/I136765683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100427190","display_name":"Haoyu Wang","orcid":"https://orcid.org/0000-0002-8905-822X"},"institutions":[{"id":"https://openalex.org/I136765683","display_name":"Tianjin University of Technology","ror":"https://ror.org/00zbe0w13","country_code":"CN","type":"education","lineage":["https://openalex.org/I136765683"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haoyu Wang","raw_affiliation_strings":["Tianjin University of Technology","National Demonstration Center for Experimental Mechanical and Electrical Engineering Education, Tianjin University of Technology, Tianjin, 300384, P.R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tianjin University of Technology","institution_ids":["https://openalex.org/I136765683"]},{"raw_affiliation_string":"National Demonstration Center for Experimental Mechanical and Electrical Engineering Education, Tianjin University of Technology, Tianjin, 300384, P.R. China","institution_ids":["https://openalex.org/I136765683"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Shuo Li","orcid":"https://orcid.org/0009-0001-2582-3527"},"institutions":[{"id":"https://openalex.org/I136765683","display_name":"Tianjin University of Technology","ror":"https://ror.org/00zbe0w13","country_code":"CN","type":"education","lineage":["https://openalex.org/I136765683"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuo Li","raw_affiliation_strings":["Tianjin University of Technology","National Demonstration Center for Experimental Mechanical and Electrical Engineering Education, Tianjin University of Technology, Tianjin, 300384, P.R. China"],"raw_orcid":"https://orcid.org/0009-0001-2582-3527","affiliations":[{"raw_affiliation_string":"Tianjin University of Technology","institution_ids":["https://openalex.org/I136765683"]},{"raw_affiliation_string":"National Demonstration Center for Experimental Mechanical and Electrical Engineering Education, Tianjin University of Technology, Tianjin, 300384, P.R. China","institution_ids":["https://openalex.org/I136765683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101785597","display_name":"Jutao Wang","orcid":"https://orcid.org/0009-0009-6014-2928"},"institutions":[{"id":"https://openalex.org/I136765683","display_name":"Tianjin University of Technology","ror":"https://ror.org/00zbe0w13","country_code":"CN","type":"education","lineage":["https://openalex.org/I136765683"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jutao Wang","raw_affiliation_strings":["Tianjin University of Technology","National Demonstration Center for Experimental Mechanical and Electrical Engineering Education, Tianjin University of Technology, Tianjin, 300384, P.R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tianjin University of Technology","institution_ids":["https://openalex.org/I136765683"]},{"raw_affiliation_string":"National Demonstration Center for Experimental Mechanical and Electrical Engineering Education, Tianjin University of Technology, Tianjin, 300384, P.R. China","institution_ids":["https://openalex.org/I136765683"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5101785597"],"corresponding_institution_ids":["https://openalex.org/I136765683"],"apc_list":null,"apc_paid":null,"fwci":0.9759,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.75223851,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":"43","issue":"6","first_page":"2172","last_page":"2192"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","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/T11394","display_name":"Dynamics and Control of Mechanical Systems","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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9997000098228455,"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/T12907","display_name":"Mechanical Engineering and Vibrations Research","score":0.9937999844551086,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/revolute-joint","display_name":"Revolute joint","score":0.9148752093315125},{"id":"https://openalex.org/keywords/imperfect","display_name":"Imperfect","score":0.722624659538269},{"id":"https://openalex.org/keywords/mobile-manipulator","display_name":"Mobile manipulator","score":0.5675429105758667},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5448219776153564},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.5196048617362976},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.4296441376209259},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4035886824131012},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.25628775358200073},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22213062644004822},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.20732221007347107},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.09719383716583252}],"concepts":[{"id":"https://openalex.org/C5643039","wikidata":"https://www.wikidata.org/wiki/Q3819341","display_name":"Revolute joint","level":3,"score":0.9148752093315125},{"id":"https://openalex.org/C2780310539","wikidata":"https://www.wikidata.org/wiki/Q12547192","display_name":"Imperfect","level":2,"score":0.722624659538269},{"id":"https://openalex.org/C190727649","wikidata":"https://www.wikidata.org/wiki/Q1941532","display_name":"Mobile manipulator","level":4,"score":0.5675429105758667},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5448219776153564},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.5196048617362976},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.4296441376209259},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4035886824131012},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.25628775358200073},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22213062644004822},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.20732221007347107},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.09719383716583252},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s026357472500058x","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s026357472500058x","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":44,"referenced_works":["https://openalex.org/W1968909754","https://openalex.org/W2007191505","https://openalex.org/W2050657094","https://openalex.org/W2056299400","https://openalex.org/W2057388586","https://openalex.org/W2062504791","https://openalex.org/W2082714500","https://openalex.org/W2139010282","https://openalex.org/W2166185271","https://openalex.org/W2314766673","https://openalex.org/W2326652288","https://openalex.org/W2607447744","https://openalex.org/W2884147932","https://openalex.org/W2886944736","https://openalex.org/W2894933926","https://openalex.org/W2912499875","https://openalex.org/W2922251705","https://openalex.org/W2997223357","https://openalex.org/W2999376069","https://openalex.org/W3014983989","https://openalex.org/W3015452933","https://openalex.org/W3128853708","https://openalex.org/W3137448318","https://openalex.org/W3160983354","https://openalex.org/W3169903206","https://openalex.org/W3203991670","https://openalex.org/W4211264357","https://openalex.org/W4220904633","https://openalex.org/W4281294329","https://openalex.org/W4285005604","https://openalex.org/W4308531527","https://openalex.org/W4379056939","https://openalex.org/W4389266238","https://openalex.org/W4391826370","https://openalex.org/W4392004741","https://openalex.org/W4392792535","https://openalex.org/W4392796540","https://openalex.org/W4394710167","https://openalex.org/W4394854870","https://openalex.org/W4402808280","https://openalex.org/W4407118301","https://openalex.org/W4407181223","https://openalex.org/W6861586346","https://openalex.org/W6876164839"],"related_works":["https://openalex.org/W4388343518","https://openalex.org/W3148970067","https://openalex.org/W137099297","https://openalex.org/W2047126621","https://openalex.org/W1995115082","https://openalex.org/W1988296917","https://openalex.org/W3040978121","https://openalex.org/W2103961931","https://openalex.org/W2326914789","https://openalex.org/W2185220635"],"abstract_inverted_index":{"Abstract":[0],"Due":[1],"to":[2,26,157],"the":[3,15,40,45,68,79,86,112,134,144,154,159,195],"effects":[4],"of":[5,18,44,52,70,85,127,136,162,173,197,210,216],"tolerance,":[6],"design,":[7],"and":[8,29,38,62,64,94,97,116,124,151,176,192],"manufacturing":[9],"deviations,":[10],"there":[11],"are":[12,180],"clearances":[13,22,200],"in":[14,32,35,56,99,213],"revolute":[16,57,76,87,128,163,198,222],"joints":[17,58,77,88,129,164],"mechanical":[19,125,160],"arms.":[20],"These":[21],"can":[23],"easily":[24],"lead":[25],"system":[27,202],"impacts":[28],"vibrations,":[30],"resulting":[31],"a":[33],"decrease":[34],"dynamic":[36,50,171,203,214],"performance":[37,204],"affecting":[39],"trajectory":[41],"tracking":[42,190],"accuracy":[43],"end":[46],"effector.":[47],"The":[48,81,170,207],"existing":[49],"models":[51,126,172],"mechanisms":[53],"with":[54,89,130,165],"clearance":[55,75,90,131,166,188],"lack":[59],"comprehensiveness,":[60],"universality,":[61],"systematicity,":[63],"have":[65],"not":[66],"addressed":[67],"impact":[69,82,146,196],"joint":[71,117,199,223],"reaction":[72,118],"forces":[73],"within":[74],"on":[78,103,108,133,186,201],"system.":[80],"collision":[83,145],"problem":[84],"was":[91],"systematically,":[92],"accurately,":[93],"comprehensively":[95],"modeled":[96],"simulated":[98],"this":[100,120,211],"study":[101],"based":[102,132],"multibody":[104,137,141],"dynamics":[105,142],"theory.":[106],"Based":[107],"Hertz\u2019s":[109],"elastic":[110],"theory,":[111],"LuGre":[113],"friction":[114],"model,":[115],"forces,":[119],"paper":[121],"constructs":[122],"constraint":[123],"theory":[135],"dynamics.":[138],"To":[139],"facilitate":[140],"analysis,":[143],"direction":[147],"matrix":[148],"is":[149,205,225],"proposed":[150],"used":[152],"for":[153],"first":[155],"time":[156],"transform":[158],"model":[161],"into":[167],"external":[168],"forces.":[169],"mobile":[174,217],"parallel":[175,218],"double":[177],"serial":[178],"manipulators":[179,219],"then":[181],"constructed.":[182],"Through":[183],"numerical":[184],"simulations":[185],"different":[187],"amounts,":[189],"trajectories,":[191],"load":[193],"parameters,":[194],"analyzed.":[206],"engineering":[208],"significance":[209],"research":[212],"analysis":[215],"under":[220],"imperfect":[221],"conditions":[224],"also":[226],"discussed.":[227]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}