{"id":"https://openalex.org/W4394627387","doi":"https://doi.org/10.1109/access.2024.3386549","title":"Design, Analysis, and Implementation of a 3-DOF Spherical Parallel Manipulator","display_name":"Design, Analysis, and Implementation of a 3-DOF Spherical Parallel Manipulator","publication_year":2024,"publication_date":"2024-01-01","ids":{"openalex":"https://openalex.org/W4394627387","doi":"https://doi.org/10.1109/access.2024.3386549"},"language":"en","primary_location":{"id":"doi:10.1109/access.2024.3386549","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2024.3386549","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/10495028.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":null,"license_id":null,"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/ielx7/6287639/6514899/10495028.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5002979903","display_name":"Mohamed Djennane","orcid":"https://orcid.org/0000-0001-6105-5070"},"institutions":[{"id":"https://openalex.org/I4210131710","display_name":"\u00c9cole Normale Sup\u00e9rieure de Constantine","ror":"https://ror.org/03xz4j444","country_code":"DZ","type":"education","lineage":["https://openalex.org/I4210131710"]}],"countries":["DZ"],"is_corresponding":true,"raw_author_name":"Mohamed Djennane","raw_affiliation_strings":["&#x00C9;cole Nationale Polytechnique de Constantine, Constantine, Algeria"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"&#x00C9;cole Nationale Polytechnique de Constantine, Constantine, Algeria","institution_ids":["https://openalex.org/I4210131710"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036651864","display_name":"Seif Eddine Chehaidia","orcid":"https://orcid.org/0000-0003-3475-6503"},"institutions":[{"id":"https://openalex.org/I4210131710","display_name":"\u00c9cole Normale Sup\u00e9rieure de Constantine","ror":"https://ror.org/03xz4j444","country_code":"DZ","type":"education","lineage":["https://openalex.org/I4210131710"]}],"countries":["DZ"],"is_corresponding":false,"raw_author_name":"Seif Eddine Chehaidia","raw_affiliation_strings":["&#x00C9;cole Nationale Polytechnique de Constantine, Constantine, Algeria"],"raw_orcid":"https://orcid.org/0000-0003-3475-6503","affiliations":[{"raw_affiliation_string":"&#x00C9;cole Nationale Polytechnique de Constantine, Constantine, Algeria","institution_ids":["https://openalex.org/I4210131710"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5095112747","display_name":"Chouiter Yakoub","orcid":"https://orcid.org/0009-0000-1293-0318"},"institutions":[{"id":"https://openalex.org/I4210131710","display_name":"\u00c9cole Normale Sup\u00e9rieure de Constantine","ror":"https://ror.org/03xz4j444","country_code":"DZ","type":"education","lineage":["https://openalex.org/I4210131710"]}],"countries":["DZ"],"is_corresponding":false,"raw_author_name":"Chouiter Yakoub","raw_affiliation_strings":["&#x00C9;cole Nationale Polytechnique de Constantine, Constantine, Algeria"],"raw_orcid":"https://orcid.org/0009-0000-1293-0318","affiliations":[{"raw_affiliation_string":"&#x00C9;cole Nationale Polytechnique de Constantine, Constantine, Algeria","institution_ids":["https://openalex.org/I4210131710"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5095112748","display_name":"Khawla Mesbah","orcid":null},"institutions":[{"id":"https://openalex.org/I4210131710","display_name":"\u00c9cole Normale Sup\u00e9rieure de Constantine","ror":"https://ror.org/03xz4j444","country_code":"DZ","type":"education","lineage":["https://openalex.org/I4210131710"]}],"countries":["DZ"],"is_corresponding":false,"raw_author_name":"Khawla Mesbah","raw_affiliation_strings":["&#x00C9;cole Nationale Polytechnique de Constantine, Constantine, Algeria"],"raw_orcid":"https://orcid.org/0009-0005-7714-3493","affiliations":[{"raw_affiliation_string":"&#x00C9;cole Nationale Polytechnique de Constantine, Constantine, Algeria","institution_ids":["https://openalex.org/I4210131710"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072761944","display_name":"Mansour Aljohani","orcid":"https://orcid.org/0000-0001-7354-1367"},"institutions":[{"id":"https://openalex.org/I113133037","display_name":"Yanbu University College","ror":"https://ror.org/011adk382","country_code":"SA","type":"education","lineage":["https://openalex.org/I113133037"]},{"id":"https://openalex.org/I4400600957","display_name":"Yanbu Industrial College","ror":"https://ror.org/01sxpmm41","country_code":"SA","type":"education","lineage":["https://openalex.org/I4400600957"]}],"countries":["SA"],"is_corresponding":false,"raw_author_name":"Mansour Aljohani","raw_affiliation_strings":["Yanbu Industrial College (YIC), Royal Commission Yanbu Colleges and Institutes, Yanbu, Saudi Arabia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Yanbu Industrial College (YIC), Royal Commission Yanbu Colleges and Institutes, Yanbu, Saudi Arabia","institution_ids":["https://openalex.org/I113133037","https://openalex.org/I4400600957"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5030942408","display_name":"Mohamed I. Mosaad","orcid":"https://orcid.org/0000-0002-6531-5455"},"institutions":[{"id":"https://openalex.org/I113133037","display_name":"Yanbu University College","ror":"https://ror.org/011adk382","country_code":"SA","type":"education","lineage":["https://openalex.org/I113133037"]},{"id":"https://openalex.org/I126427551","display_name":"Damietta University","ror":"https://ror.org/035h3r191","country_code":"EG","type":"education","lineage":["https://openalex.org/I126427551"]},{"id":"https://openalex.org/I4400600957","display_name":"Yanbu Industrial College","ror":"https://ror.org/01sxpmm41","country_code":"SA","type":"education","lineage":["https://openalex.org/I4400600957"]}],"countries":["EG","SA"],"is_corresponding":false,"raw_author_name":"Mohmed I. Mosaad","raw_affiliation_strings":["Yanbu Industrial College (YIC), Royal Commission Yanbu Colleges and Institutes, Yanbu, Saudi Arabia","Electrical Engineering Department, Faculty of Engineering, Damietta University, Damietta, Egypt"],"raw_orcid":"https://orcid.org/0000-0002-6531-5455","affiliations":[{"raw_affiliation_string":"Yanbu Industrial College (YIC), Royal Commission Yanbu Colleges and Institutes, Yanbu, Saudi Arabia","institution_ids":["https://openalex.org/I113133037","https://openalex.org/I4400600957"]},{"raw_affiliation_string":"Electrical Engineering Department, Faculty of Engineering, Damietta University, Damietta, Egypt","institution_ids":["https://openalex.org/I126427551"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5002979903"],"corresponding_institution_ids":["https://openalex.org/I4210131710"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":2.1647,"has_fulltext":true,"cited_by_count":7,"citation_normalized_percentile":{"value":0.86951512,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":"12","issue":null,"first_page":"52837","last_page":"52850"},"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/T10868","display_name":"Soft Robotics and Applications","score":0.9882000088691711,"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":0.9878000020980835,"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/parallel-manipulator","display_name":"Parallel manipulator","score":0.7528654336929321},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6815111041069031},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.43770545721054077},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3302469253540039},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.16764169931411743},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14605525135993958},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.12173184752464294}],"concepts":[{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.7528654336929321},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6815111041069031},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.43770545721054077},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3302469253540039},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.16764169931411743},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14605525135993958},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.12173184752464294}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2024.3386549","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2024.3386549","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/10495028.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":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:744a8b7d4ebc46f99867ae5d29ab1008","is_oa":true,"landing_page_url":"https://doaj.org/article/744a8b7d4ebc46f99867ae5d29ab1008","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 12, Pp 52837-52850 (2024)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2024.3386549","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2024.3386549","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/10495028.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":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.6000000238418579}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4394627387.pdf","grobid_xml":"https://content.openalex.org/works/W4394627387.grobid-xml"},"referenced_works_count":34,"referenced_works":["https://openalex.org/W184102034","https://openalex.org/W1555634426","https://openalex.org/W1629837460","https://openalex.org/W1973027877","https://openalex.org/W1995882721","https://openalex.org/W2070917084","https://openalex.org/W2085545845","https://openalex.org/W2105282492","https://openalex.org/W2144682848","https://openalex.org/W2496956530","https://openalex.org/W2519475398","https://openalex.org/W2565819088","https://openalex.org/W2615403521","https://openalex.org/W2883170902","https://openalex.org/W2883506091","https://openalex.org/W2890740873","https://openalex.org/W2893766524","https://openalex.org/W2921293152","https://openalex.org/W2953936845","https://openalex.org/W2974259393","https://openalex.org/W3008276094","https://openalex.org/W3210684472","https://openalex.org/W4251420516","https://openalex.org/W4251744980","https://openalex.org/W4313886608","https://openalex.org/W4322763271","https://openalex.org/W4323540184","https://openalex.org/W4327662014","https://openalex.org/W4365149532","https://openalex.org/W4366147339","https://openalex.org/W4378215684","https://openalex.org/W4385759198","https://openalex.org/W4386510050","https://openalex.org/W6801268924"],"related_works":["https://openalex.org/W1997122515","https://openalex.org/W2393977490","https://openalex.org/W2366856298","https://openalex.org/W2166323405","https://openalex.org/W2038930466","https://openalex.org/W2376007266","https://openalex.org/W2067594477","https://openalex.org/W2385739135","https://openalex.org/W1981988083","https://openalex.org/W2394251694"],"abstract_inverted_index":{"The":[0,28,69,95,209,233],"agile":[1],"eye":[2],"is":[3,74,105,181],"classified":[4],"as":[5],"a":[6,32,37,44,77,93,99,152,199,218,230],"3-degrees":[7],"of":[8,34,39,47,71,80,86,97,116,123,137,151,155,163,176,187,223,235,241,250],"freedom":[9],"(DOF)":[10],"type":[11],"3-RRR":[12],"spherical":[13],"parallel":[14,89],"mechanism":[15,51,211],"(SPM)":[16,91],"designed":[17],"to":[18,75,106,132,183],"replicate":[19],"the":[20,25,50,81,87,103,108,114,121,124,134,138,149,158,161,168,173,177,185,188,204,214,221,236,239,242],"movement":[21],"patterns":[22],"seen":[23],"in":[24,213,220],"human":[26],"eye.":[27],"end":[29],"organ":[30],"exhibits":[31],"range":[33],"motion":[35],"inside":[36,157],"cone":[38],"vision":[40],"spanning":[41],"140\u00b0,":[42],"with":[43,195],"twist":[45],"tolerance":[46],"\u00b130\u00b0.":[48],"Additionally,":[49,145],"can":[52],"achieve":[53],"angular":[54,60],"velocities":[55],"exceeding":[56],"1000":[57],"\u00b0/s":[58,64],"and":[59,83,119,140,160],"accelerations":[61],"surpassing":[62],"20":[63],"<sup":[65],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[66],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">2</sup>":[67],".":[68],"objective":[70],"this":[72,146],"research":[73],"conduct":[76],"comprehensive":[78],"examination":[79],"direct":[82],"inverse":[84],"kinematics":[85],"spatial":[88],"manipulator":[90,104],"on":[92,102],"manipulator.":[94],"purpose":[96],"doing":[98],"kinematic":[100],"analysis":[101],"enhance":[107],"design":[109,126,243],"optimization":[110],"process,":[111],"accurately":[112],"determine":[113],"dimensions":[115],"all":[117],"components,":[118],"improve":[120],"functionality":[122],"computer-aided":[125],"(CAD)":[127],"system.":[128],"This":[129],"study":[130,147],"aims":[131],"ensure":[133],"efficient":[135],"operation":[136],"SPM":[139],"maximize":[141],"its":[142,193],"available":[143,206],"workspace.":[144,169],"enables":[148],"achievement":[150],"high":[153],"level":[154],"stiffness":[156],"workspace":[159],"establishment":[162],"clearly":[164],"comprehensible":[165],"limits":[166],"for":[167],"Moreover,":[170],"it":[171],"facilitates":[172],"precise":[174],"control":[175,210],"SPM.":[178],"An":[179],"evaluation":[180],"conducted":[182],"assess":[184],"efficacy":[186],"existing":[189],"technique":[190],"by":[191,246],"comparing":[192],"outputs":[194],"those":[196],"obtained":[197],"from":[198],"virtual":[200],"reality":[201],"simulation":[202],"using":[203],"commercially":[205],"software":[207],"CopeliaSim.":[208],"described":[212],"present":[215],"paper":[216],"demonstrates":[217],"surplus":[219],"resolution":[222],"precision":[224],"problems":[225],"while":[226],"ensuring":[227],"competitiveness":[228],"at":[229],"controlled":[231],"cost.":[232],"implementation":[234],"robot":[237],"revealed":[238],"effectiveness":[240],"approach":[244],"adopted":[245],"recording":[247],"an":[248],"error":[249],"no":[251],"more":[252],"than":[253],"1%.":[254]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":2}],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2025-10-10T00:00:00"}