{"id":"https://openalex.org/W2094239675","doi":"https://doi.org/10.1108/01439911111097841","title":"Implementation of a single motor driven manipulator with multiple joints","display_name":"Implementation of a single motor driven manipulator with multiple joints","publication_year":2010,"publication_date":"2010-12-25","ids":{"openalex":"https://openalex.org/W2094239675","doi":"https://doi.org/10.1108/01439911111097841","mag":"2094239675"},"language":"en","primary_location":{"id":"doi:10.1108/01439911111097841","is_oa":false,"landing_page_url":"https://doi.org/10.1108/01439911111097841","pdf_url":null,"source":{"id":"https://openalex.org/S166948985","display_name":"Industrial Robot the international journal of robotics research and application","issn_l":"0143-991X","issn":["0143-991X","1758-5791"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319811","host_organization_name":"Emerald Publishing Limited","host_organization_lineage":["https://openalex.org/P4310319811"],"host_organization_lineage_names":["Emerald Publishing Limited"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Industrial Robot: An International Journal","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/A5100685377","display_name":"Shiqi Li","orcid":"https://orcid.org/0000-0002-7033-6541"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Shiqi Li","raw_affiliation_strings":["School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044180306","display_name":"Yang Liu","orcid":"https://orcid.org/0000-0001-7993-126X"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yang Liu","raw_affiliation_strings":["School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5071487619","display_name":"Ming Xie","orcid":"https://orcid.org/0000-0001-8013-7274"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Ming Xie","raw_affiliation_strings":["School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore"],"affiliations":[{"raw_affiliation_string":"School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5100685377"],"corresponding_institution_ids":["https://openalex.org/I47720641"],"apc_list":null,"apc_paid":null,"fwci":1.4452,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.86020239,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"38","issue":"1","first_page":"48","last_page":"57"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9947999715805054,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9947999715805054,"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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9883000254631042,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.978600025177002,"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/clutch","display_name":"Clutch","score":0.8518403768539429},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7396931648254395},{"id":"https://openalex.org/keywords/duty-cycle","display_name":"Duty cycle","score":0.5795930624008179},{"id":"https://openalex.org/keywords/pulse-width-modulation","display_name":"Pulse-width modulation","score":0.5649242401123047},{"id":"https://openalex.org/keywords/brake","display_name":"Brake","score":0.5142056941986084},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.466231107711792},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4365110993385315},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.4260830283164978},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4211905002593994},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3704882562160492},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.27267032861709595},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.2530304193496704},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.25157803297042847},{"id":"https://openalex.org/keywords/voltage","display_name":"Voltage","score":0.17289358377456665},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.07455664873123169}],"concepts":[{"id":"https://openalex.org/C30358287","wikidata":"https://www.wikidata.org/wiki/Q194302","display_name":"Clutch","level":2,"score":0.8518403768539429},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7396931648254395},{"id":"https://openalex.org/C199822604","wikidata":"https://www.wikidata.org/wiki/Q557120","display_name":"Duty cycle","level":3,"score":0.5795930624008179},{"id":"https://openalex.org/C92746544","wikidata":"https://www.wikidata.org/wiki/Q585184","display_name":"Pulse-width modulation","level":3,"score":0.5649242401123047},{"id":"https://openalex.org/C2780999251","wikidata":"https://www.wikidata.org/wiki/Q17022503","display_name":"Brake","level":2,"score":0.5142056941986084},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.466231107711792},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4365110993385315},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.4260830283164978},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4211905002593994},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3704882562160492},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.27267032861709595},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.2530304193496704},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.25157803297042847},{"id":"https://openalex.org/C165801399","wikidata":"https://www.wikidata.org/wiki/Q25428","display_name":"Voltage","level":2,"score":0.17289358377456665},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.07455664873123169},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1108/01439911111097841","is_oa":false,"landing_page_url":"https://doi.org/10.1108/01439911111097841","pdf_url":null,"source":{"id":"https://openalex.org/S166948985","display_name":"Industrial Robot the international journal of robotics research and application","issn_l":"0143-991X","issn":["0143-991X","1758-5791"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319811","host_organization_name":"Emerald Publishing Limited","host_organization_lineage":["https://openalex.org/P4310319811"],"host_organization_lineage_names":["Emerald Publishing Limited"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Industrial Robot: An International Journal","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":20,"referenced_works":["https://openalex.org/W245837060","https://openalex.org/W1992740618","https://openalex.org/W2006742133","https://openalex.org/W2007900718","https://openalex.org/W2016696480","https://openalex.org/W2111253117","https://openalex.org/W2117038705","https://openalex.org/W2129473102","https://openalex.org/W2131063775","https://openalex.org/W2134167019","https://openalex.org/W2140594625","https://openalex.org/W2142233024","https://openalex.org/W2162189406","https://openalex.org/W2175599199","https://openalex.org/W2317929862","https://openalex.org/W2736648126","https://openalex.org/W2990010014","https://openalex.org/W4232963096","https://openalex.org/W6676434310","https://openalex.org/W7011681575"],"related_works":["https://openalex.org/W2616449328","https://openalex.org/W2126203794","https://openalex.org/W2393977490","https://openalex.org/W2038930466","https://openalex.org/W1997122515","https://openalex.org/W2366856298","https://openalex.org/W2376007266","https://openalex.org/W2166323405","https://openalex.org/W2067594477","https://openalex.org/W2385739135"],"abstract_inverted_index":{"Purpose":[0],"The":[1,27,97,130,198],"purpose":[2],"of":[3,13,30,34,42,69,92,125,193],"this":[4],"paper":[5,199],"is":[6,62,86],"to":[7,51,64,105,121,189],"present":[8],"the":[9,37,66,77,89,106,123,126,148,158,161,179,184,190],"design":[10],"and":[11,39,46,81,114,154,170,203,211],"implementation":[12],"a":[14,22,134,141,151,166,172,201,208],"new":[15],"manipulator":[16,28,135,185,205],"with":[17,94,136,165,213],"six":[18,137],"joints":[19,138],"driven":[20,139,206],"by":[21,88,140,207],"single":[23,142,209],"DC":[24,143],"motor.":[25],"Design/methodology/approach":[26],"consists":[29],"several":[31,155],"modules,":[32],"each":[33,53,70],"which":[35,145],"has":[36,132],"twisting":[38],"pivoting":[40],"degrees":[41],"freedom.":[43],"Two":[44,72,109],"clutches":[45],"one":[47],"brake":[48],"are":[49,74,118,163],"mounted":[50],"control":[52,61,127,192],"joint.":[54],"A":[55],"clutch":[56,107,180],"model":[57,181],"based":[58],"on":[59],"PWM":[60,79,84],"built":[63,182],"compute":[65],"average":[67],"velocity":[68],"clutch.":[71],"parameters":[73],"involved":[75],"in":[76],"model:":[78],"frequency":[80,85],"duty":[82,99],"ratio.":[83],"limited":[87],"natural":[90],"frequencies":[91],"structure":[93],"all":[95,147,160,194],"postures.":[96],"theoretical":[98],"ratio":[100],"should":[101],"be":[102,187],"adjusted":[103],"according":[104],"model.":[108],"experiments":[110],"\u2013":[111,117],"line":[112],"tracking":[113,116],"arc":[115],"carried":[119],"out":[120],"verify":[122],"effectiveness":[124],"system.":[128],"Findings":[129],"study":[131],"designed":[133,212],"motor":[144,210],"powers":[146],"modules":[149,162],"through":[150],"main":[152],"shaft":[153],"clutches.":[156],"In":[157],"manipulator,":[159],"supplied":[164],"constant":[167],"speed":[168],"input":[169],"provide":[171],"bi\u2010directional":[173,214],"variable":[174],"output.":[175],"Experimental":[176],"results":[177],"show":[178],"for":[183],"can":[186],"applied":[188],"joint":[191],"multi\u2010joint":[195],"manipulators.":[196],"Originality/value":[197],"describes":[200],"dexterous":[202],"light\u2010weight":[204],"joints.":[215]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2017,"cited_by_count":2},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}