{"id":"https://openalex.org/W2150622967","doi":"https://doi.org/10.1017/s0263574797000490","title":"Optimal design of aredundant spherical parallel manipulator","display_name":"Optimal design of aredundant spherical parallel manipulator","publication_year":1997,"publication_date":"1997-07-01","ids":{"openalex":"https://openalex.org/W2150622967","doi":"https://doi.org/10.1017/s0263574797000490","mag":"2150622967"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574797000490","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574797000490","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/A5031609278","display_name":"Sylvie Leguay-Durand","orcid":null},"institutions":[{"id":"https://openalex.org/I2801658355","display_name":"Office National d'\u00c9tudes et de Recherches A\u00e9rospatiales","ror":"https://ror.org/005y2ap84","country_code":"FR","type":"facility","lineage":["https://openalex.org/I2801658355"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Sylvie Leguay-Durand","raw_affiliation_strings":["ONERA-CERT-SUPAERO D\u00e9partement d'automatique, 2 avenue Edouard Belin, BP 4025-31055 Toulouse cedex 4, France. E-mail:"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ONERA-CERT-SUPAERO D\u00e9partement d'automatique, 2 avenue Edouard Belin, BP 4025-31055 Toulouse cedex 4, France. E-mail:","institution_ids":["https://openalex.org/I2801658355"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5052250484","display_name":"C. Reboulet","orcid":null},"institutions":[{"id":"https://openalex.org/I2801658355","display_name":"Office National d'\u00c9tudes et de Recherches A\u00e9rospatiales","ror":"https://ror.org/005y2ap84","country_code":"FR","type":"facility","lineage":["https://openalex.org/I2801658355"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Claude Reboulet","raw_affiliation_strings":["ONERA-CERT-SUPAERO D\u00e9partement d'automatique, 2 avenue Edouard Belin, BP 4025-31055 Toulouse cedex 4, France. E-mail:"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ONERA-CERT-SUPAERO D\u00e9partement d'automatique, 2 avenue Edouard Belin, BP 4025-31055 Toulouse cedex 4, France. E-mail:","institution_ids":["https://openalex.org/I2801658355"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I2801658355"],"apc_list":null,"apc_paid":null,"fwci":0.7852,"has_fulltext":false,"cited_by_count":66,"citation_normalized_percentile":{"value":0.75044114,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"15","issue":"4","first_page":"399","last_page":"405"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9994999766349792,"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":0.9994999766349792,"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":0.9951000213623047,"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":0.9851999878883362,"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":0.9004261493682861},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.7725845575332642},{"id":"https://openalex.org/keywords/redundancy","display_name":"Redundancy (engineering)","score":0.7210114002227783},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7146475315093994},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.6679455637931824},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5658500790596008},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5471996665000916},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.48260819911956787},{"id":"https://openalex.org/keywords/gravitational-singularity","display_name":"Gravitational singularity","score":0.46178868412971497},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.24050989747047424},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18001329898834229},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.14227402210235596},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12040126323699951},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.067658931016922}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.9004261493682861},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7725845575332642},{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.7210114002227783},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7146475315093994},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.6679455637931824},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5658500790596008},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5471996665000916},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.48260819911956787},{"id":"https://openalex.org/C12843","wikidata":"https://www.wikidata.org/wiki/Q201721","display_name":"Gravitational singularity","level":2,"score":0.46178868412971497},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.24050989747047424},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18001329898834229},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.14227402210235596},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12040126323699951},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.067658931016922},{"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/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"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/s0263574797000490","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574797000490","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":0,"referenced_works":[],"related_works":["https://openalex.org/W2362652060","https://openalex.org/W2357403317","https://openalex.org/W2066019639","https://openalex.org/W2394251694","https://openalex.org/W2026756596","https://openalex.org/W1917399524","https://openalex.org/W2555022781","https://openalex.org/W2635001913","https://openalex.org/W1518655544","https://openalex.org/W3162047364"],"abstract_inverted_index":{"A":[0,14,38],"new":[1],"kinematic":[2,40],"design":[3],"of":[4,17,24,79],"a":[5,35,65,70,73,76,88],"parallel":[6,19],"spherical":[7],"wrist":[8],"with":[9,64,75],"actuator":[10,45],"redundancy":[11,46],"is":[12,21],"presented.":[13],"special":[15],"feature":[16],"this":[18],"manipulator":[20],"the":[22,80],"arrangement":[23],"co-axial":[25],"actuators":[26],"which":[27],"allows":[28],"unlimited":[29],"rotation":[30],"about":[31],"any":[32],"axis":[33],"inside":[34],"cone-shaped":[36],"workspace.":[37],"detailed":[39],"analysis":[41],"has":[42,61,93],"shown":[43],"that":[44,87],"not":[47],"only":[48],"removes":[49],"singularities":[50],"but":[51],"also":[52],"increases":[53],"workspace":[54],"while":[55],"improving":[56],"dexterity.":[57],"The":[58],"structure":[59,78],"optimization":[60],"been":[62,94],"performed":[63,84],"global":[66],"dexterity":[67,92],"criterion.":[68],"Using":[69],"conditioning":[71],"measure,":[72],"comparison":[74],"non-redundant":[77],"same":[81],"type":[82],"was":[83],"and":[85],"shows":[86],"significant":[89],"improvement":[90],"in":[91],"obtained.":[95]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":3}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
