{"id":"https://openalex.org/W3082219530","doi":"https://doi.org/10.1109/access.2020.3020095","title":"Kinematics Analysis of 3UPU_UP Coupling Parallel Platform in the Marine Environment","display_name":"Kinematics Analysis of 3UPU_UP Coupling Parallel Platform in the Marine Environment","publication_year":2020,"publication_date":"2020-01-01","ids":{"openalex":"https://openalex.org/W3082219530","doi":"https://doi.org/10.1109/access.2020.3020095","mag":"3082219530"},"language":"en","primary_location":{"id":"doi:10.1109/access.2020.3020095","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3020095","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09180040.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/ielx7/6287639/8948470/09180040.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100643592","display_name":"Xiong Hu","orcid":null},"institutions":[{"id":"https://openalex.org/I96733725","display_name":"Shanghai Maritime University","ror":"https://ror.org/04z7qrj66","country_code":"CN","type":"education","lineage":["https://openalex.org/I96733725"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xiong Hu","raw_affiliation_strings":["Logistics Engineering College, Shanghai Maritime University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Logistics Engineering College, Shanghai Maritime University, Shanghai, China","institution_ids":["https://openalex.org/I96733725"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085243580","display_name":"Furong Li","orcid":"https://orcid.org/0000-0002-0857-9534"},"institutions":[{"id":"https://openalex.org/I96733725","display_name":"Shanghai Maritime University","ror":"https://ror.org/04z7qrj66","country_code":"CN","type":"education","lineage":["https://openalex.org/I96733725"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Furong Li","raw_affiliation_strings":["Logistics Engineering College, Shanghai Maritime University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0002-0857-9534","affiliations":[{"raw_affiliation_string":"Logistics Engineering College, Shanghai Maritime University, Shanghai, China","institution_ids":["https://openalex.org/I96733725"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5041353443","display_name":"Gang Tang","orcid":"https://orcid.org/0000-0002-8706-4431"},"institutions":[{"id":"https://openalex.org/I96733725","display_name":"Shanghai Maritime University","ror":"https://ror.org/04z7qrj66","country_code":"CN","type":"education","lineage":["https://openalex.org/I96733725"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Gang Tang","raw_affiliation_strings":["Logistics Engineering College, Shanghai Maritime University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0002-8706-4431","affiliations":[{"raw_affiliation_string":"Logistics Engineering College, Shanghai Maritime University, Shanghai, China","institution_ids":["https://openalex.org/I96733725"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5100643592"],"corresponding_institution_ids":["https://openalex.org/I96733725"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.8928,"has_fulltext":true,"cited_by_count":10,"citation_normalized_percentile":{"value":0.74264962,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"8","issue":null,"first_page":"158142","last_page":"158151"},"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9957000017166138,"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":0.9907000064849854,"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":0.826197624206543},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.6343092918395996},{"id":"https://openalex.org/keywords/coupling","display_name":"Coupling (piping)","score":0.5948542356491089},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5933444499969482},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5763640403747559},{"id":"https://openalex.org/keywords/correctness","display_name":"Correctness","score":0.5314107537269592},{"id":"https://openalex.org/keywords/forward-kinematics","display_name":"Forward kinematics","score":0.48842161893844604},{"id":"https://openalex.org/keywords/screw-theory","display_name":"Screw theory","score":0.4876922369003296},{"id":"https://openalex.org/keywords/kinematics-equations","display_name":"Kinematics equations","score":0.48418810963630676},{"id":"https://openalex.org/keywords/equations-of-motion","display_name":"Equations of motion","score":0.48146477341651917},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.46345728635787964},{"id":"https://openalex.org/keywords/coordinate-system","display_name":"Coordinate system","score":0.44411009550094604},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4374179244041443},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.42841577529907227},{"id":"https://openalex.org/keywords/stewart-platform","display_name":"Stewart platform","score":0.41684046387672424},{"id":"https://openalex.org/keywords/constraint-algorithm","display_name":"Constraint algorithm","score":0.4156380295753479},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.32358652353286743},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.22886398434638977},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.17990326881408691},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.15357482433319092},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.12885421514511108},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.12711793184280396},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.12105405330657959},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.12057825922966003},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.11950239539146423},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.09771794080734253},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.08824613690376282}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.826197624206543},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.6343092918395996},{"id":"https://openalex.org/C131584629","wikidata":"https://www.wikidata.org/wiki/Q4308705","display_name":"Coupling (piping)","level":2,"score":0.5948542356491089},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5933444499969482},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5763640403747559},{"id":"https://openalex.org/C55439883","wikidata":"https://www.wikidata.org/wiki/Q360812","display_name":"Correctness","level":2,"score":0.5314107537269592},{"id":"https://openalex.org/C160970401","wikidata":"https://www.wikidata.org/wiki/Q1423222","display_name":"Forward kinematics","level":4,"score":0.48842161893844604},{"id":"https://openalex.org/C18788176","wikidata":"https://www.wikidata.org/wiki/Q7891441","display_name":"Screw theory","level":3,"score":0.4876922369003296},{"id":"https://openalex.org/C204172952","wikidata":"https://www.wikidata.org/wiki/Q6410697","display_name":"Kinematics equations","level":5,"score":0.48418810963630676},{"id":"https://openalex.org/C14037181","wikidata":"https://www.wikidata.org/wiki/Q215007","display_name":"Equations of motion","level":2,"score":0.48146477341651917},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.46345728635787964},{"id":"https://openalex.org/C80551277","wikidata":"https://www.wikidata.org/wiki/Q11210","display_name":"Coordinate system","level":2,"score":0.44411009550094604},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4374179244041443},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.42841577529907227},{"id":"https://openalex.org/C69769044","wikidata":"https://www.wikidata.org/wiki/Q2041113","display_name":"Stewart platform","level":3,"score":0.41684046387672424},{"id":"https://openalex.org/C15980293","wikidata":"https://www.wikidata.org/wiki/Q5164368","display_name":"Constraint algorithm","level":3,"score":0.4156380295753479},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.32358652353286743},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.22886398434638977},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.17990326881408691},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.15357482433319092},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.12885421514511108},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.12711793184280396},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.12105405330657959},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.12057825922966003},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.11950239539146423},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.09771794080734253},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.08824613690376282},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C73684929","wikidata":"https://www.wikidata.org/wiki/Q598870","display_name":"Lagrange multiplier","level":2,"score":0.0},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2020.3020095","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3020095","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09180040.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:8a8c8213316546088b5b150f7e6d8a04","is_oa":true,"landing_page_url":"https://doaj.org/article/8a8c8213316546088b5b150f7e6d8a04","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"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 158142-158151 (2020)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2020.3020095","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3020095","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09180040.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":[{"score":0.8600000143051147,"id":"https://metadata.un.org/sdg/14","display_name":"Life below water"}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3082219530.pdf","grobid_xml":"https://content.openalex.org/works/W3082219530.grobid-xml"},"referenced_works_count":24,"referenced_works":["https://openalex.org/W1963551751","https://openalex.org/W1976359904","https://openalex.org/W1980147179","https://openalex.org/W1981338117","https://openalex.org/W2012833326","https://openalex.org/W2062195789","https://openalex.org/W2078757631","https://openalex.org/W2079466065","https://openalex.org/W2383842200","https://openalex.org/W2393240757","https://openalex.org/W2608166581","https://openalex.org/W2609310386","https://openalex.org/W2792072206","https://openalex.org/W2795584040","https://openalex.org/W2889421419","https://openalex.org/W2905844825","https://openalex.org/W2963353243","https://openalex.org/W2964224677","https://openalex.org/W2970396017","https://openalex.org/W2982604270","https://openalex.org/W2997439935","https://openalex.org/W2998073725","https://openalex.org/W3011794266","https://openalex.org/W4399469378"],"related_works":["https://openalex.org/W2138377666","https://openalex.org/W2354985678","https://openalex.org/W2366276599","https://openalex.org/W4361792536","https://openalex.org/W2810079597","https://openalex.org/W2162441142","https://openalex.org/W2899988243","https://openalex.org/W2907493328","https://openalex.org/W4211103343","https://openalex.org/W2185791973"],"abstract_inverted_index":{"A":[0],"study":[1],"of":[2,6,45,59,71,85,95,105,110,122,134,148,155],"the":[3,29,46,51,55,60,72,77,81,86,96,103,106,111,120,126,132,135,138,149,153],"kinematic":[4],"characteristics":[5],"a":[7,18,36,123,145],"3UPU_UP":[8,20],"coupling":[9,56,107,146],"parallel":[10,21,32],"platform":[11,22,33,47,61,73,87,97,112,150],"that":[12,119],"has":[13],"three-degree-of-freedom(3-DOF).":[14],"In":[15],"this":[16],"article,":[17],"novel":[19],"is":[23,26,62,74,88,100,116,128],"presented,":[24],"which":[25],"based":[27],"on":[28,125,137],"5-DOF":[30],"3UPU":[31],"by":[34,50,76,90,143],"adding":[35],"UP":[37],"followed":[38],"limb.":[39],"The":[40,67,93],"DOFs":[41,115],"and":[42,54,80,102,130],"motion":[43,121,133],"constraints":[44],"are":[48],"analyzed":[49],"screw":[52],"theory,":[53],"constraint":[57,108],"equation":[58,70,84,109],"obtained":[63,101],"through":[64],"coordinate":[65],"transformation.":[66],"inverse":[68],"kinematics":[69,83],"derived":[75],"closed-loop":[78],"method,":[79],"forward":[82],"solved":[89],"Netwon-Rapson":[91],"iteration.":[92],"trajectory":[94],"in":[98,113],"space":[99],"correctness":[104],"other":[114],"verified.":[117],"Considering":[118],"ship":[124,139],"sea":[127],"multi-DOF":[129],"complicated,":[131],"cargo":[136],"can":[140],"be":[141],"compensated":[142],"using":[144],"characteristic":[147],"to":[151],"improve":[152],"safety":[154],"marine":[156],"operations.":[157]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":3}],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2025-10-10T00:00:00"}
