{"id":"https://openalex.org/W1540357762","doi":"https://doi.org/10.1109/aim.2015.7222744","title":"Dynamic analysis of a 3-DOF 3-PUU parallel manipulator based on the principle of virtual work","display_name":"Dynamic analysis of a 3-DOF 3-PUU parallel manipulator based on the principle of virtual work","publication_year":2015,"publication_date":"2015-07-01","ids":{"openalex":"https://openalex.org/W1540357762","doi":"https://doi.org/10.1109/aim.2015.7222744","mag":"1540357762"},"language":"en","primary_location":{"id":"doi:10.1109/aim.2015.7222744","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim.2015.7222744","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-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/A5029754595","display_name":"Song Lu","orcid":"https://orcid.org/0000-0003-3414-0362"},"institutions":[{"id":"https://openalex.org/I204512498","display_name":"University of Macau","ror":"https://ror.org/01r4q9n85","country_code":"MO","type":"education","lineage":["https://openalex.org/I204512498"]}],"countries":["MO"],"is_corresponding":true,"raw_author_name":"Song Lu","raw_affiliation_strings":["Department of Electromechanical Engineering, University of Macau, Macao"],"affiliations":[{"raw_affiliation_string":"Department of Electromechanical Engineering, University of Macau, Macao","institution_ids":["https://openalex.org/I204512498"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5027712402","display_name":"Yangmin Li","orcid":"https://orcid.org/0000-0002-4448-3310"},"institutions":[{"id":"https://openalex.org/I136765683","display_name":"Tianjin University of Technology","ror":"https://ror.org/00zbe0w13","country_code":"CN","type":"education","lineage":["https://openalex.org/I136765683"]},{"id":"https://openalex.org/I204512498","display_name":"University of Macau","ror":"https://ror.org/01r4q9n85","country_code":"MO","type":"education","lineage":["https://openalex.org/I204512498"]}],"countries":["CN","MO"],"is_corresponding":false,"raw_author_name":"Yangmin Li","raw_affiliation_strings":["Department of Electromechanical Engineering, University of Macau, Macao","Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control, Tianjin University of Technology, Tianjin, China"],"affiliations":[{"raw_affiliation_string":"Department of Electromechanical Engineering, University of Macau, Macao","institution_ids":["https://openalex.org/I204512498"]},{"raw_affiliation_string":"Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control, Tianjin University of Technology, Tianjin, China","institution_ids":["https://openalex.org/I136765683"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5029754595"],"corresponding_institution_ids":["https://openalex.org/I204512498"],"apc_list":null,"apc_paid":null,"fwci":1.3464,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.82210903,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1445","last_page":"1450"},"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/T11525","display_name":"Piezoelectric Actuators and Control","score":0.9984999895095825,"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/T11749","display_name":"Iterative Learning Control Systems","score":0.9939000010490417,"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/virtual-work","display_name":"Virtual work","score":0.8143508434295654},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7308552861213684},{"id":"https://openalex.org/keywords/universal-joint","display_name":"Universal joint","score":0.5815001130104065},{"id":"https://openalex.org/keywords/angular-velocity","display_name":"Angular velocity","score":0.5723810791969299},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5647066831588745},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5641418695449829},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.5489974617958069},{"id":"https://openalex.org/keywords/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.5170429348945618},{"id":"https://openalex.org/keywords/centrifugal-force","display_name":"Centrifugal force","score":0.47911500930786133},{"id":"https://openalex.org/keywords/angular-acceleration","display_name":"Angular acceleration","score":0.4679948687553406},{"id":"https://openalex.org/keywords/inverse-dynamics","display_name":"Inverse dynamics","score":0.44358888268470764},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.42604944109916687},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.417675256729126},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.41242292523384094},{"id":"https://openalex.org/keywords/inertia","display_name":"Inertia","score":0.41208094358444214},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.39411625266075134},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.36339735984802246},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.3544280529022217},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.30310070514678955},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2913357615470886},{"id":"https://openalex.org/keywords/rotational-speed","display_name":"Rotational speed","score":0.23710587620735168},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.21105772256851196},{"id":"https://openalex.org/keywords/finite-element-method","display_name":"Finite element method","score":0.15397989749908447},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.12884023785591125},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.1198301613330841}],"concepts":[{"id":"https://openalex.org/C136560751","wikidata":"https://www.wikidata.org/wiki/Q1144923","display_name":"Virtual work","level":3,"score":0.8143508434295654},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7308552861213684},{"id":"https://openalex.org/C63316402","wikidata":"https://www.wikidata.org/wiki/Q862003","display_name":"Universal joint","level":2,"score":0.5815001130104065},{"id":"https://openalex.org/C5594486","wikidata":"https://www.wikidata.org/wiki/Q161635","display_name":"Angular velocity","level":2,"score":0.5723810791969299},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5647066831588745},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5641418695449829},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.5489974617958069},{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.5170429348945618},{"id":"https://openalex.org/C50735335","wikidata":"https://www.wikidata.org/wiki/Q178733","display_name":"Centrifugal force","level":3,"score":0.47911500930786133},{"id":"https://openalex.org/C190704821","wikidata":"https://www.wikidata.org/wiki/Q186300","display_name":"Angular acceleration","level":3,"score":0.4679948687553406},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.44358888268470764},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.42604944109916687},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.417675256729126},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.41242292523384094},{"id":"https://openalex.org/C110407247","wikidata":"https://www.wikidata.org/wiki/Q122508","display_name":"Inertia","level":2,"score":0.41208094358444214},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.39411625266075134},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.36339735984802246},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.3544280529022217},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.30310070514678955},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2913357615470886},{"id":"https://openalex.org/C81063470","wikidata":"https://www.wikidata.org/wiki/Q1256787","display_name":"Rotational speed","level":2,"score":0.23710587620735168},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.21105772256851196},{"id":"https://openalex.org/C135628077","wikidata":"https://www.wikidata.org/wiki/Q220184","display_name":"Finite element method","level":2,"score":0.15397989749908447},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.12884023785591125},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.1198301613330841},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"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/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/aim.2015.7222744","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim.2015.7222744","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7200000286102295,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W61778463","https://openalex.org/W112748337","https://openalex.org/W1985927609","https://openalex.org/W2004219020","https://openalex.org/W2009401724","https://openalex.org/W2010801461","https://openalex.org/W2038455815","https://openalex.org/W2046294118","https://openalex.org/W2081855158","https://openalex.org/W2112157908","https://openalex.org/W2150159640","https://openalex.org/W2155036992","https://openalex.org/W2158734282","https://openalex.org/W2165176229","https://openalex.org/W2326914789","https://openalex.org/W6662112500"],"related_works":["https://openalex.org/W2181920910","https://openalex.org/W2998933094","https://openalex.org/W1974758031","https://openalex.org/W2045818318","https://openalex.org/W2603554439","https://openalex.org/W2165096105","https://openalex.org/W2378991809","https://openalex.org/W2773085367","https://openalex.org/W2062947634","https://openalex.org/W1554907094"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,15,148],"straightforward":[4],"and":[5,41,67,110,133,136],"systematical":[6],"methodology":[7],"for":[8,147],"conducting":[9],"the":[10,24,48,52,58,61,65,75,81,85,90,95,102,121,125,129,140,154,160],"inverse":[11,49],"dynamic":[12,126],"analysis":[13],"of":[14,26,43,60,70,84,87,94,105,139],"3-prismatic-universal-universal":[16],"(PUU)":[17],"parallel":[18],"kinematic":[19,50],"manipulator":[20],"(PKM)":[21],"through":[22,119],"employing":[23],"principle":[25,86],"virtual":[27,88,122],"work.":[28],"The":[29,38,113],"proposed":[30],"3-PUU":[31],"PKM":[32],"possesses":[33],"three":[34],"translational":[35],"degree-of-freedom":[36],"(DOF).":[37],"position,":[39],"velocity":[40,59,66,69],"acceleration":[42],"joints":[44],"are":[45,72,99,117,144],"solved":[46],"via":[47],"analysis,":[51],"link":[53],"Jacobian":[54],"matrices":[55],"which":[56],"map":[57],"moving":[62,106],"platform":[63],"into":[64,101],"angular":[68],"struts":[71],"derived":[73],"in":[74,124],"fixed":[76],"coordinate":[77],"system.":[78],"Based":[79],"on":[80],"d'Alembert's":[82],"form":[83],"work,":[89],"applied":[91,103],"generalized":[92],"forces":[93,104],"whole":[96],"mechanical":[97],"system":[98],"divided":[100],"platform,":[107],"struts,":[108],"sliders,":[109],"motor-coupling-leadscrew,":[111],"respectively.":[112],"joint":[114,142],"actuated":[115],"torques":[116],"obtained":[118],"eliminating":[120],"displacement":[123],"equations.":[127],"Furthermore,":[128],"inertial":[130,161],"term,":[131,135],"centrifugal":[132],"Coriolis":[134],"gravitational":[137],"term":[138],"total":[141,155],"torque":[143,156],"determined.":[145],"Simulation":[146],"conical":[149],"spiral":[150],"trajectory":[151],"demonstrates":[152],"that":[153],"is":[157],"dominated":[158],"by":[159],"term.":[162]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}