{"id":"https://openalex.org/W2980294776","doi":"https://doi.org/10.1108/ir-06-2019-0129","title":"Inverse kinematics solution and posture optimization of a new redundant hybrid automatic fastening system for aircraft assembly","display_name":"Inverse kinematics solution and posture optimization of a new redundant hybrid automatic fastening system for aircraft assembly","publication_year":2019,"publication_date":"2019-10-11","ids":{"openalex":"https://openalex.org/W2980294776","doi":"https://doi.org/10.1108/ir-06-2019-0129","mag":"2980294776"},"language":"en","primary_location":{"id":"doi:10.1108/ir-06-2019-0129","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-06-2019-0129","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: the international journal of robotics research and application","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/A5056309204","display_name":"Guowei Pan","orcid":"https://orcid.org/0000-0002-4637-0766"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guowei Pan","raw_affiliation_strings":["College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065696059","display_name":"Wenliang Chen","orcid":"https://orcid.org/0000-0003-4308-3128"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenliang Chen","raw_affiliation_strings":["College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5008483637","display_name":"Hui Wang","orcid":"https://orcid.org/0000-0003-3482-5281"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hui Wang","raw_affiliation_strings":["College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China","institution_ids":["https://openalex.org/I9842412"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I9842412"],"apc_list":null,"apc_paid":null,"fwci":0.1642,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.4858844,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"47","issue":"1","first_page":"57","last_page":"67"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9991999864578247,"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":0.9991999864578247,"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/T11159","display_name":"Manufacturing Process and Optimization","score":0.9969000220298767,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/T10188","display_name":"Advanced machining processes and optimization","score":0.9968000054359436,"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/kinematics","display_name":"Kinematics","score":0.7265224456787109},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.6907868981361389},{"id":"https://openalex.org/keywords/redundancy","display_name":"Redundancy (engineering)","score":0.6057354807853699},{"id":"https://openalex.org/keywords/decoupling","display_name":"Decoupling (probability)","score":0.5257383584976196},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5233007073402405},{"id":"https://openalex.org/keywords/correctness","display_name":"Correctness","score":0.46576428413391113},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.42464685440063477},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.38976746797561646},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.33470115065574646},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3028550148010254},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.29230207204818726},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23030179738998413},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.2298583686351776},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.22704359889030457},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18656685948371887},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.08368924260139465}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7265224456787109},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.6907868981361389},{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.6057354807853699},{"id":"https://openalex.org/C205606062","wikidata":"https://www.wikidata.org/wiki/Q5249645","display_name":"Decoupling (probability)","level":2,"score":0.5257383584976196},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5233007073402405},{"id":"https://openalex.org/C55439883","wikidata":"https://www.wikidata.org/wiki/Q360812","display_name":"Correctness","level":2,"score":0.46576428413391113},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.42464685440063477},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.38976746797561646},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.33470115065574646},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3028550148010254},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.29230207204818726},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23030179738998413},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2298583686351776},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.22704359889030457},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18656685948371887},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.08368924260139465},{"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1108/ir-06-2019-0129","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-06-2019-0129","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: the international journal of robotics research and application","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.9100000262260437,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1492901672","https://openalex.org/W1505261739","https://openalex.org/W1584851565","https://openalex.org/W1936283025","https://openalex.org/W1972931969","https://openalex.org/W1989772468","https://openalex.org/W2009272203","https://openalex.org/W2024167002","https://openalex.org/W2040738203","https://openalex.org/W2047685374","https://openalex.org/W2057781325","https://openalex.org/W2085044096","https://openalex.org/W2120099319","https://openalex.org/W2137112961","https://openalex.org/W2140781725","https://openalex.org/W2148781141","https://openalex.org/W2246023205","https://openalex.org/W2477919820","https://openalex.org/W2529982862","https://openalex.org/W2592725339","https://openalex.org/W2610135787","https://openalex.org/W2750319461","https://openalex.org/W2761387828","https://openalex.org/W2788830866","https://openalex.org/W2896918312","https://openalex.org/W2897941479"],"related_works":["https://openalex.org/W1667647204","https://openalex.org/W2404647514","https://openalex.org/W4247536566","https://openalex.org/W2018477250","https://openalex.org/W3119814709","https://openalex.org/W4241418540","https://openalex.org/W2126628616","https://openalex.org/W1985308364","https://openalex.org/W4231651419","https://openalex.org/W2898458249"],"abstract_inverted_index":{"Purpose":[0],"The":[1],"purpose":[2],"of":[3,11,31,55,85,106,153,163,234],"this":[4,209],"paper":[5,219],"is":[6,33,58,80,99,141],"to":[7,101,133,149,241],"use":[8,134],"the":[9,23,28,40,47,56,63,67,83,86,91,103,107,111,115,121,135,138,151,154,158,164,178,192,197,201,235,243,246],"redundancy":[10,96,136,244],"a":[12,51,71,94,221,226,239,250],"new":[13],"hybrid":[14,251],"automatic":[15,179],"fastening":[16,104,180],"system":[17],"(HAFS)":[18],"for":[19,76,177,230,249],"aircraft":[20,122,182,202],"assembly":[21,124],"in":[22,120,137,181,191,245],"best":[24,139,247],"way.":[25],"Design/methodology/approach":[26],"First,":[27],"kinematic":[29,53,223,232],"model":[30,54,224],"HAFS":[32,57,112,193],"divided":[34],"into":[35],"three":[36],"sub-models,":[37],"which":[38,109,173,237],"are":[39,147,167,174],"upper/lower":[41],"tool":[42],"and":[43,90,117,144,160,171,196,214,225],"parallel":[44],"robot.":[45],"With":[46,82],"geometric":[48],"coordination":[49],"relationship,":[50],"comprehensive":[52,222],"built":[59],"by":[60],"mathematically":[61],"assembling":[62],"sub-models":[64],"based":[65],"on":[66],"DH":[68],"method.":[69,156],"Then,":[70],"novel":[72,227],"master-slave":[73],"decoupling":[74,228],"strategy":[75,229],"inverse":[77,231],"kinematics":[78],"solution":[79,233],"proposed.":[81],"combination":[84],"minimum":[87],"energy":[88],"consumption":[89],"comfortable":[92],"configuration,":[93],"multi-objective":[95,129],"resolution":[97],"method":[98,187,210],"developed":[100],"optimize":[102],"configuration":[105],"HAFS,":[108,236],"keep":[110],"away":[113],"from":[114],"joint-limits":[116],"collision":[118],"avoiding":[119],"panel":[123],"process.":[125],"Findings":[126],"An":[127],"efficient":[128],"posture":[130],"optimization":[131],"algorithm":[132],"way":[140,248],"obtained.":[142],"Simulation":[143],"an":[145],"experiment":[146],"used":[148,190],"demonstrate":[150],"correctness":[152],"proposed":[155],"Moreover,":[157],"position":[159],"orientation":[161],"errors":[162],"drilling":[165],"holes":[166],"within":[168],"0.222":[169],"mm":[170],"0.356\u00b0,":[172],"accurate":[175],"enough":[176],"manufacturing.":[183],"Practical":[184],"implications":[185],"This":[186,218],"has":[188],"been":[189],"control":[194],"system,":[195],"practical":[198],"results":[199],"show":[200],"components":[203],"can":[204],"be":[205],"fastened":[206],"automatically":[207],"through":[208],"with":[211,253],"high":[212,215],"efficiency":[213],"quality.":[216],"Originality/value":[217],"proposes":[220],"provides":[238],"reference":[240],"utilize":[242],"machine":[252],"redundant":[254],"function.":[255]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}