{"id":"https://openalex.org/W3000579708","doi":"https://doi.org/10.1109/access.2020.2964010","title":"Design of a 3-DOF Parallel Manipulator to Compensate for Disturbances in Facade Cleaning","display_name":"Design of a 3-DOF Parallel Manipulator to Compensate for Disturbances in Facade Cleaning","publication_year":2020,"publication_date":"2020-01-01","ids":{"openalex":"https://openalex.org/W3000579708","doi":"https://doi.org/10.1109/access.2020.2964010","mag":"3000579708"},"language":"en","primary_location":{"id":"doi:10.1109/access.2020.2964010","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.2964010","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/08950145.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/08950145.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5041001705","display_name":"Garam Park","orcid":"https://orcid.org/0000-0003-0930-9699"},"institutions":[{"id":"https://openalex.org/I4575257","display_name":"Hanyang University","ror":"https://ror.org/046865y68","country_code":"KR","type":"education","lineage":["https://openalex.org/I4575257"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Garam Park","raw_affiliation_strings":["School of Mechanical Engineering, Hanyang University, Seoul, South Korea"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Hanyang University, Seoul, South Korea","institution_ids":["https://openalex.org/I4575257"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101684339","display_name":"Jooyoung Hong","orcid":"https://orcid.org/0000-0003-0629-7565"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jooyoung Hong","raw_affiliation_strings":["School of Mechanical and Aerospace Engineering, Seoul National University, Seoul, South Korea"],"affiliations":[{"raw_affiliation_string":"School of Mechanical and Aerospace Engineering, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026084162","display_name":"Sungkeun Yoo","orcid":"https://orcid.org/0000-0002-5393-2560"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Sungkeun Yoo","raw_affiliation_strings":["School of Mechanical and Aerospace Engineering, Seoul National University, Seoul, South Korea"],"affiliations":[{"raw_affiliation_string":"School of Mechanical and Aerospace Engineering, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038452773","display_name":"Hwa Soo Kim","orcid":"https://orcid.org/0000-0001-7116-7367"},"institutions":[{"id":"https://openalex.org/I28615091","display_name":"Kyonggi University","ror":"https://ror.org/032xf8h46","country_code":"KR","type":"education","lineage":["https://openalex.org/I28615091"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hwa Soo Kim","raw_affiliation_strings":["Department of Mechanical System Engineering, Kyonggi University, Suwon, South Korea"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical System Engineering, Kyonggi University, Suwon, South Korea","institution_ids":["https://openalex.org/I28615091"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5000423233","display_name":"TaeWon Seo","orcid":"https://orcid.org/0000-0001-9447-7675"},"institutions":[{"id":"https://openalex.org/I4575257","display_name":"Hanyang University","ror":"https://ror.org/046865y68","country_code":"KR","type":"education","lineage":["https://openalex.org/I4575257"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Taewon Seo","raw_affiliation_strings":["School of Mechanical Engineering, Hanyang University, Seoul, South Korea"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Hanyang University, Seoul, South Korea","institution_ids":["https://openalex.org/I4575257"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5041001705"],"corresponding_institution_ids":["https://openalex.org/I4575257"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":1.0413,"has_fulltext":true,"cited_by_count":7,"citation_normalized_percentile":{"value":0.75582205,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"8","issue":null,"first_page":"9015","last_page":"9022"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9962999820709229,"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/T11301","display_name":"Advanced Surface Polishing Techniques","score":0.9958999752998352,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.8923259973526001},{"id":"https://openalex.org/keywords/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.7757399082183838},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7450766563415527},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7447678446769714},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.6062487363815308},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.5703224539756775},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5383238792419434},{"id":"https://openalex.org/keywords/singularity","display_name":"Singularity","score":0.5151664018630981},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.4544012248516083},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.4498615562915802},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.44465214014053345},{"id":"https://openalex.org/keywords/controllability","display_name":"Controllability","score":0.42253953218460083},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.412562757730484},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3557283580303192},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.24353930354118347},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23459568619728088},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.08865213394165039},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08844131231307983}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.8923259973526001},{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.7757399082183838},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7450766563415527},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7447678446769714},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.6062487363815308},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.5703224539756775},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5383238792419434},{"id":"https://openalex.org/C16171025","wikidata":"https://www.wikidata.org/wiki/Q863349","display_name":"Singularity","level":2,"score":0.5151664018630981},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.4544012248516083},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.4498615562915802},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.44465214014053345},{"id":"https://openalex.org/C48209547","wikidata":"https://www.wikidata.org/wiki/Q1331104","display_name":"Controllability","level":2,"score":0.42253953218460083},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.412562757730484},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3557283580303192},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.24353930354118347},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23459568619728088},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.08865213394165039},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08844131231307983},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"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/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2020.2964010","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.2964010","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/08950145.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:99b9ca3a3c774d91bc79181487781d38","is_oa":true,"landing_page_url":"https://doaj.org/article/99b9ca3a3c774d91bc79181487781d38","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 8, Pp 9015-9022 (2020)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2020.2964010","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.2964010","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/08950145.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.7300000190734863}],"awards":[{"id":"https://openalex.org/G2324837921","display_name":null,"funder_award_id":"20184030201970","funder_id":"https://openalex.org/F4320321681","funder_display_name":"Ministry of Trade, Industry and Energy"},{"id":"https://openalex.org/G3034753964","display_name":null,"funder_award_id":"grant","funder_id":"https://openalex.org/F4320320671","funder_display_name":"National Research Foundation"},{"id":"https://openalex.org/G342704958","display_name":null,"funder_award_id":"funded","funder_id":"https://openalex.org/F4320322120","funder_display_name":"National Research Foundation of Korea"},{"id":"https://openalex.org/G393802059","display_name":null,"funder_award_id":"2018M3C1B9088332","funder_id":"https://openalex.org/F4320322120","funder_display_name":"National Research Foundation of Korea"},{"id":"https://openalex.org/G3942910960","display_name":null,"funder_award_id":"(NRF) grant","funder_id":"https://openalex.org/F4320322120","funder_display_name":"National Research Foundation of Korea"},{"id":"https://openalex.org/G6406549432","display_name":null,"funder_award_id":"2018M3C1B9088331","funder_id":"https://openalex.org/F4320322120","funder_display_name":"National Research Foundation of Korea"},{"id":"https://openalex.org/G6498936999","display_name":null,"funder_award_id":"20184030201970","funder_id":"https://openalex.org/F4320335199","funder_display_name":"Korea Institute of Energy Technology Evaluation and Planning"},{"id":"https://openalex.org/G7121727950","display_name":null,"funder_award_id":"KETEP)","funder_id":"https://openalex.org/F4320335199","funder_display_name":"Korea Institute of Energy Technology Evaluation and Planning"},{"id":"https://openalex.org/G7685055460","display_name":null,"funder_award_id":"Grant","funder_id":"https://openalex.org/F4320328359","funder_display_name":"Ministry of Science and ICT, South Korea"},{"id":"https://openalex.org/G992484961","display_name":null,"funder_award_id":"Korea","funder_id":"https://openalex.org/F4320321681","funder_display_name":"Ministry of Trade, Industry and Energy"}],"funders":[{"id":"https://openalex.org/F4320320671","display_name":"National Research Foundation","ror":"https://ror.org/05s0g1g46"},{"id":"https://openalex.org/F4320321681","display_name":"Ministry of Trade, Industry and Energy","ror":"https://ror.org/008nkqk13"},{"id":"https://openalex.org/F4320322120","display_name":"National Research Foundation of Korea","ror":"https://ror.org/013aysd81"},{"id":"https://openalex.org/F4320328359","display_name":"Ministry of Science and ICT, South Korea","ror":"https://ror.org/01wpjm123"},{"id":"https://openalex.org/F4320335199","display_name":"Korea Institute of Energy Technology Evaluation and Planning","ror":"https://ror.org/02zq38y32"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3000579708.pdf","grobid_xml":"https://content.openalex.org/works/W3000579708.grobid-xml"},"referenced_works_count":24,"referenced_works":["https://openalex.org/W374277108","https://openalex.org/W1963551751","https://openalex.org/W1975803057","https://openalex.org/W1989925973","https://openalex.org/W1990447791","https://openalex.org/W1993371511","https://openalex.org/W2019133644","https://openalex.org/W2030729721","https://openalex.org/W2042538399","https://openalex.org/W2052606962","https://openalex.org/W2066287741","https://openalex.org/W2067614974","https://openalex.org/W2084532335","https://openalex.org/W2089796608","https://openalex.org/W2148798706","https://openalex.org/W2335064115","https://openalex.org/W2615679934","https://openalex.org/W2913171817","https://openalex.org/W2918218835","https://openalex.org/W2919862852","https://openalex.org/W2968538228","https://openalex.org/W2968684937","https://openalex.org/W2985318398","https://openalex.org/W6663548257"],"related_works":["https://openalex.org/W1679399962","https://openalex.org/W2353085251","https://openalex.org/W2362652060","https://openalex.org/W2066019639","https://openalex.org/W2357403317","https://openalex.org/W2394251694","https://openalex.org/W2090392331","https://openalex.org/W2379794025","https://openalex.org/W1901106430","https://openalex.org/W2132859693"],"abstract_inverted_index":{"This":[0,112],"paper":[1],"proposes":[2],"a":[3,16,32,38,44,73],"three-degree-of-freedom":[4],"manifold":[5],"composed":[6],"of":[7,15,90,108],"three":[8],"linear":[9],"actuators.":[10],"The":[11,56,93],"proposed":[12],"mechanism":[13],"consists":[14],"workspace":[17],"suitable":[18],"for":[19,25,50,100,120],"facade":[20,121],"cleaning":[21,39,46,122],"and":[22,60,66],"can":[23,42,114],"compensate":[24],"the":[26,51,87,91,97,101,106,109,124],"horizontal":[27],"position":[28],"from":[29],"disturbances":[30,102],"in":[31,53,123],"gondola-based":[33],"exterior-wall":[34],"cleaning.":[35],"We":[36],"design":[37],"manipulator":[40,98],"that":[41,85],"ensure":[43],"constant":[45],"area":[47],"by":[48],"compensating":[49],"disturbance":[52],"each":[54],"direction.":[55],"position,":[57],"velocity":[58],"kinematic,":[59],"Jacobian-based":[61],"singularity":[62],"analysis":[63],"are":[64,69],"presented,":[65],"kinematic":[67],"variables":[68],"defined":[70],"to":[71,117],"extend":[72],"singularity-free":[74],"workspace.":[75],"In":[76],"addition,":[77],"optimization":[78,110],"is":[79],"performed":[80],"based":[81],"on":[82],"an":[83],"index":[84],"demonstrates":[86],"mechanical":[88],"properties":[89],"manipulator.":[92],"result":[94],"shows":[95],"how":[96],"compensates":[99],"as":[103,105],"well":[104],"features":[107],"model.":[111],"study":[113],"be":[115],"applied":[116],"robot":[118],"manipulators":[119],"future.":[125]},"counts_by_year":[{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":1}],"updated_date":"2026-04-10T15:06:20.359241","created_date":"2025-10-10T00:00:00"}
