{"id":"https://openalex.org/W4413225055","doi":"https://doi.org/10.1017/s0263574725102026","title":"Motion/force transmissibility analysis and inverse kinematics optimization of kinematically redundant parallel mechanisms","display_name":"Motion/force transmissibility analysis and inverse kinematics optimization of kinematically redundant parallel mechanisms","publication_year":2025,"publication_date":"2025-08-01","ids":{"openalex":"https://openalex.org/W4413225055","doi":"https://doi.org/10.1017/s0263574725102026"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574725102026","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574725102026","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/A5116237192","display_name":"Licong Li","orcid":null},"institutions":[{"id":"https://openalex.org/I1328775524","display_name":"Zhejiang Sci-Tech University","ror":"https://ror.org/03893we55","country_code":"CN","type":"education","lineage":["https://openalex.org/I1328775524"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Licong Li","raw_affiliation_strings":["Zhejiang Sci-Tech University","School of Mechanical Engineering, Zhejiang Sci-Tech University, Hangzhou, 310018, China"],"raw_orcid":"https://orcid.org/0009-0006-8787-6575","affiliations":[{"raw_affiliation_string":"Zhejiang Sci-Tech University","institution_ids":["https://openalex.org/I1328775524"]},{"raw_affiliation_string":"School of Mechanical Engineering, Zhejiang Sci-Tech University, Hangzhou, 310018, China","institution_ids":["https://openalex.org/I1328775524"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100399670","display_name":"Haifeng Zhang","orcid":"https://orcid.org/0000-0002-4917-746X"},"institutions":[{"id":"https://openalex.org/I1328775524","display_name":"Zhejiang Sci-Tech University","ror":"https://ror.org/03893we55","country_code":"CN","type":"education","lineage":["https://openalex.org/I1328775524"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haifeng Zhang","raw_affiliation_strings":["Zhejiang Sci-Tech University","School of Mechanical Engineering, Zhejiang Sci-Tech University, Hangzhou, 310018, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhejiang Sci-Tech University","institution_ids":["https://openalex.org/I1328775524"]},{"raw_affiliation_string":"School of Mechanical Engineering, Zhejiang Sci-Tech University, Hangzhou, 310018, China","institution_ids":["https://openalex.org/I1328775524"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100638998","display_name":"Xiang Jin","orcid":"https://orcid.org/0009-0004-5227-4852"},"institutions":[{"id":"https://openalex.org/I1328775524","display_name":"Zhejiang Sci-Tech University","ror":"https://ror.org/03893we55","country_code":"CN","type":"education","lineage":["https://openalex.org/I1328775524"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiang Jin","raw_affiliation_strings":["Zhejiang Sci-Tech University","School of Mechanical Engineering, Zhejiang Sci-Tech University, Hangzhou, 310018, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhejiang Sci-Tech University","institution_ids":["https://openalex.org/I1328775524"]},{"raw_affiliation_string":"School of Mechanical Engineering, Zhejiang Sci-Tech University, Hangzhou, 310018, China","institution_ids":["https://openalex.org/I1328775524"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103114865","display_name":"Qiaohong Chen","orcid":"https://orcid.org/0009-0009-7334-6284"},"institutions":[{"id":"https://openalex.org/I1328775524","display_name":"Zhejiang Sci-Tech University","ror":"https://ror.org/03893we55","country_code":"CN","type":"education","lineage":["https://openalex.org/I1328775524"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qiaohong Chen","raw_affiliation_strings":["Zhejiang Sci-Tech University","School of Computer Science and Technology, Zhejiang Sci-Tech University, Hangzhou, 310018, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhejiang Sci-Tech University","institution_ids":["https://openalex.org/I1328775524"]},{"raw_affiliation_string":"School of Computer Science and Technology, Zhejiang Sci-Tech University, Hangzhou, 310018, China","institution_ids":["https://openalex.org/I1328775524"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100448701","display_name":"Wei Ye","orcid":"https://orcid.org/0000-0003-2606-7206"},"institutions":[{"id":"https://openalex.org/I1328775524","display_name":"Zhejiang Sci-Tech University","ror":"https://ror.org/03893we55","country_code":"CN","type":"education","lineage":["https://openalex.org/I1328775524"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Wei Ye","raw_affiliation_strings":["Zhejiang Sci-Tech University","National and Local Joint Engineering Research Center of Reliability Analysis and Testing for Mechanical and Electrical Products, Zhejiang Sci-Tech University, Hangzhou, 310018, China"],"raw_orcid":"https://orcid.org/0000-0003-2606-7206","affiliations":[{"raw_affiliation_string":"Zhejiang Sci-Tech University","institution_ids":["https://openalex.org/I1328775524"]},{"raw_affiliation_string":"National and Local Joint Engineering Research Center of Reliability Analysis and Testing for Mechanical and Electrical Products, Zhejiang Sci-Tech University, Hangzhou, 310018, China","institution_ids":["https://openalex.org/I1328775524"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5100448701"],"corresponding_institution_ids":["https://openalex.org/I1328775524"],"apc_list":null,"apc_paid":null,"fwci":0.7779,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.73941076,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":"43","issue":"8","first_page":"3058","last_page":"3079"},"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/T12907","display_name":"Mechanical Engineering and Vibrations Research","score":0.995199978351593,"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"}},{"id":"https://openalex.org/T11525","display_name":"Piezoelectric Actuators and Control","score":0.9922999739646912,"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/workspace","display_name":"Workspace","score":0.9073983430862427},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.8418999314308167},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.6837043762207031},{"id":"https://openalex.org/keywords/redundancy","display_name":"Redundancy (engineering)","score":0.6546981334686279},{"id":"https://openalex.org/keywords/wrench","display_name":"Wrench","score":0.6499323844909668},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5869247317314148},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.583102285861969},{"id":"https://openalex.org/keywords/transmission","display_name":"Transmission (telecommunications)","score":0.5527158379554749},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.4963122010231018},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.47240084409713745},{"id":"https://openalex.org/keywords/transmissibility","display_name":"Transmissibility (structural dynamics)","score":0.46175599098205566},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.27817732095718384},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.18442386388778687},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1770692765712738},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.138352632522583},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.11487293243408203},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.10596135258674622},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.08489647507667542},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.08311572670936584},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.05633854866027832}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.9073983430862427},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.8418999314308167},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.6837043762207031},{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.6546981334686279},{"id":"https://openalex.org/C29302406","wikidata":"https://www.wikidata.org/wiki/Q154411","display_name":"Wrench","level":2,"score":0.6499323844909668},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5869247317314148},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.583102285861969},{"id":"https://openalex.org/C761482","wikidata":"https://www.wikidata.org/wiki/Q118093","display_name":"Transmission (telecommunications)","level":2,"score":0.5527158379554749},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.4963122010231018},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.47240084409713745},{"id":"https://openalex.org/C16683452","wikidata":"https://www.wikidata.org/wiki/Q7834601","display_name":"Transmissibility (structural dynamics)","level":4,"score":0.46175599098205566},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.27817732095718384},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.18442386388778687},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1770692765712738},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.138352632522583},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.11487293243408203},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.10596135258674622},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.08489647507667542},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.08311572670936584},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.05633854866027832},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"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/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C198394728","wikidata":"https://www.wikidata.org/wiki/Q3695508","display_name":"Vibration","level":2,"score":0.0},{"id":"https://openalex.org/C45799244","wikidata":"https://www.wikidata.org/wiki/Q109968206","display_name":"Vibration isolation","level":3,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574725102026","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574725102026","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":40,"referenced_works":["https://openalex.org/W121153077","https://openalex.org/W1485633210","https://openalex.org/W1587518301","https://openalex.org/W1970444047","https://openalex.org/W1970772209","https://openalex.org/W1986516966","https://openalex.org/W1988084954","https://openalex.org/W2027486737","https://openalex.org/W2058220086","https://openalex.org/W2069389650","https://openalex.org/W2070738751","https://openalex.org/W2096333140","https://openalex.org/W2136570877","https://openalex.org/W2148293860","https://openalex.org/W2169245563","https://openalex.org/W2320878416","https://openalex.org/W2321501099","https://openalex.org/W2330627110","https://openalex.org/W2529982862","https://openalex.org/W2573055362","https://openalex.org/W2615370318","https://openalex.org/W2755188150","https://openalex.org/W2783668963","https://openalex.org/W2914571689","https://openalex.org/W2918099934","https://openalex.org/W2957186405","https://openalex.org/W2965309789","https://openalex.org/W3116598312","https://openalex.org/W3133488096","https://openalex.org/W3214887920","https://openalex.org/W4205425173","https://openalex.org/W4213433374","https://openalex.org/W4285792017","https://openalex.org/W4315649011","https://openalex.org/W4377989424","https://openalex.org/W4379135650","https://openalex.org/W4383561712","https://openalex.org/W4407390952","https://openalex.org/W4408819790","https://openalex.org/W6700278449"],"related_works":["https://openalex.org/W2120734204","https://openalex.org/W1965047598","https://openalex.org/W2186618162","https://openalex.org/W2183472499","https://openalex.org/W2158050076","https://openalex.org/W2145622176","https://openalex.org/W4226242789","https://openalex.org/W2416519951","https://openalex.org/W2020966348","https://openalex.org/W39365746"],"abstract_inverted_index":{"Abstract":[0],"Kinematically":[1],"redundant":[2,62,78,82],"parallel":[3],"mechanisms":[4],"(PMs)":[5],"have":[6],"attracted":[7],"extensive":[8],"attention":[9],"from":[10],"researchers":[11],"due":[12],"to":[13,34,47,96,124,132],"their":[14],"advantages":[15],"in":[16,36],"avoiding":[17],"singular":[18],"configurations":[19],"and":[20,67,80,89,145,161],"expanding":[21],"the":[22,37,49,60,69,71,98,107,114,126,137,152,158,164,169],"reachable":[23,159],"workspace.":[24],"However,":[25],"kinematic":[26],"redundancy":[27],"introduces":[28],"multiple":[29,110],"inverse":[30,50,111,154],"kinematics":[31,51,112,155],"solutions,":[32,113],"leading":[33],"uncertainty":[35],"mechanism\u2019s":[38],"motion":[39],"state.":[40],"Therefore,":[41],"this":[42],"article":[43],"proposes":[44],"a":[45,122,133],"method":[46],"optimize":[48],"solutions":[52,156],"based":[53],"on":[54],"motion/force":[55,99,128,165],"transmission":[56,72,91,100,117,129,166],"performance.":[57],"By":[58,140],"dividing":[59],"kinematically":[61],"PM":[63],"into":[64],"hierarchical":[65],"levels":[66],"decomposing":[68],"redundancy,":[70],"wrench":[73],"screw":[74],"systems":[75],"of":[76,102,109,136,168],"general":[77],"limbs":[79,83],"closed-loop":[81],"are":[84,93],"obtained.":[85],"Then,":[86],"input,":[87],"output,":[88],"local":[90,115],"indices":[92],"calculated,":[94],"respectively,":[95],"evaluate":[97],"performance":[101,142,167],"such":[103],"mechanisms.":[104],"To":[105],"address":[106],"problem":[108],"optimal":[116,127],"index":[118],"is":[119,149],"employed":[120],"as":[121],"criterion":[123],"select":[125],"solution":[130],"corresponding":[131],"specific":[134],"pose":[135],"moving":[138],"platform.":[139],"comparing":[141],"atlas":[143],"before":[144],"after":[146],"optimization,":[147],"it":[148],"demonstrated":[150],"that":[151],"optimized":[153],"enlarge":[157],"workspace":[160],"significantly":[162],"improve":[163],"mechanism.":[170]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
