{"id":"https://openalex.org/W2149611296","doi":"https://doi.org/10.1109/icarcv.2002.1238552","title":"Kinematics analysis and mechatronics system design of a 3-DOF in-parallel actuated mechanism","display_name":"Kinematics analysis and mechatronics system design of a 3-DOF in-parallel actuated mechanism","publication_year":2004,"publication_date":"2004-03-23","ids":{"openalex":"https://openalex.org/W2149611296","doi":"https://doi.org/10.1109/icarcv.2002.1238552","mag":"2149611296"},"language":"en","primary_location":{"id":"doi:10.1109/icarcv.2002.1238552","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarcv.2002.1238552","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"7th International Conference on Control, Automation, Robotics and Vision, 2002. ICARCV 2002.","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/A5083943473","display_name":"H. Patrick","orcid":null},"institutions":[{"id":"https://openalex.org/I58236372","display_name":"Ngee Ann Polytechnic","ror":"https://ror.org/01w953x65","country_code":"SG","type":"education","lineage":["https://openalex.org/I58236372"]}],"countries":["SG"],"is_corresponding":true,"raw_author_name":"H. Patrick","raw_affiliation_strings":["Mechanical Engineering Division, NgeeAnn PolytechnicSchool of Engineering, Singapore"],"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Division, NgeeAnn PolytechnicSchool of Engineering, Singapore","institution_ids":["https://openalex.org/I58236372"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100895059","display_name":"Woon Kok Meng","orcid":null},"institutions":[{"id":"https://openalex.org/I58236372","display_name":"Ngee Ann Polytechnic","ror":"https://ror.org/01w953x65","country_code":"SG","type":"education","lineage":["https://openalex.org/I58236372"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Woon Kok Meng","raw_affiliation_strings":["Mechanical Engineering Division, NgeeAnn PolytechnicSchool of Engineering, Singapore"],"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Division, NgeeAnn PolytechnicSchool of Engineering, Singapore","institution_ids":["https://openalex.org/I58236372"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108528113","display_name":"Ho Tai Tong","orcid":null},"institutions":[{"id":"https://openalex.org/I58236372","display_name":"Ngee Ann Polytechnic","ror":"https://ror.org/01w953x65","country_code":"SG","type":"education","lineage":["https://openalex.org/I58236372"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Ho Tai Tong","raw_affiliation_strings":["Mechanical Engineering Division, NgeeAnn PolytechnicSchool of Engineering, Singapore"],"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Division, NgeeAnn PolytechnicSchool of Engineering, Singapore","institution_ids":["https://openalex.org/I58236372"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5110254054","display_name":"K. Joo","orcid":null},"institutions":[{"id":"https://openalex.org/I58236372","display_name":"Ngee Ann Polytechnic","ror":"https://ror.org/01w953x65","country_code":"SG","type":"education","lineage":["https://openalex.org/I58236372"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Kwee Tiaw Joo","raw_affiliation_strings":["Mechanical Engineering Division, NgeeAnn PolytechnicSchool of Engineering, Singapore"],"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Division, NgeeAnn PolytechnicSchool of Engineering, Singapore","institution_ids":["https://openalex.org/I58236372"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5083943473"],"corresponding_institution_ids":["https://openalex.org/I58236372"],"apc_list":null,"apc_paid":null,"fwci":1.7385,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.87339856,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":93},"biblio":{"volume":"2","issue":null,"first_page":"950","last_page":"955"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":1.0,"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":1.0,"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":0.9934999942779541,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9890999794006348,"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/kinematics","display_name":"Kinematics","score":0.9035079479217529},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.7630043029785156},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.7181577682495117},{"id":"https://openalex.org/keywords/forward-kinematics","display_name":"Forward kinematics","score":0.6619627475738525},{"id":"https://openalex.org/keywords/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.629180908203125},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6016218662261963},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.5896074175834656},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.5863505601882935},{"id":"https://openalex.org/keywords/kinematics-equations","display_name":"Kinematics equations","score":0.5589848756790161},{"id":"https://openalex.org/keywords/mechatronics","display_name":"Mechatronics","score":0.5421385169029236},{"id":"https://openalex.org/keywords/stewart-platform","display_name":"Stewart platform","score":0.5345178246498108},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5283406972885132},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.4480594992637634},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.42695170640945435},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.4264781177043915},{"id":"https://openalex.org/keywords/kinematic-diagram","display_name":"Kinematic diagram","score":0.4229654371738434},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.42091941833496094},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.29502540826797485},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2527642846107483},{"id":"https://openalex.org/keywords/kinematic-chain","display_name":"Kinematic chain","score":0.2167225480079651},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.21148520708084106},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21081721782684326},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.1457332968711853},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.11967271566390991},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.1106685996055603},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10664215683937073},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.09287992119789124},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.07400760054588318}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.9035079479217529},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.7630043029785156},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.7181577682495117},{"id":"https://openalex.org/C160970401","wikidata":"https://www.wikidata.org/wiki/Q1423222","display_name":"Forward kinematics","level":4,"score":0.6619627475738525},{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.629180908203125},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6016218662261963},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.5896074175834656},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.5863505601882935},{"id":"https://openalex.org/C204172952","wikidata":"https://www.wikidata.org/wiki/Q6410697","display_name":"Kinematics equations","level":5,"score":0.5589848756790161},{"id":"https://openalex.org/C28704281","wikidata":"https://www.wikidata.org/wiki/Q180165","display_name":"Mechatronics","level":2,"score":0.5421385169029236},{"id":"https://openalex.org/C69769044","wikidata":"https://www.wikidata.org/wiki/Q2041113","display_name":"Stewart platform","level":3,"score":0.5345178246498108},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5283406972885132},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.4480594992637634},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.42695170640945435},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.4264781177043915},{"id":"https://openalex.org/C171046052","wikidata":"https://www.wikidata.org/wiki/Q29301","display_name":"Kinematic diagram","level":4,"score":0.4229654371738434},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.42091941833496094},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.29502540826797485},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2527642846107483},{"id":"https://openalex.org/C62837456","wikidata":"https://www.wikidata.org/wiki/Q678308","display_name":"Kinematic chain","level":3,"score":0.2167225480079651},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.21148520708084106},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21081721782684326},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.1457332968711853},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.11967271566390991},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.1106685996055603},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10664215683937073},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.09287992119789124},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.07400760054588318},{"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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icarcv.2002.1238552","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarcv.2002.1238552","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"7th International Conference on Control, Automation, Robotics and Vision, 2002. ICARCV 2002.","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.8199999928474426,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":6,"referenced_works":["https://openalex.org/W167312421","https://openalex.org/W1696225105","https://openalex.org/W1906878979","https://openalex.org/W2041158513","https://openalex.org/W2128876975","https://openalex.org/W2129264762"],"related_works":["https://openalex.org/W4361792536","https://openalex.org/W2138377666","https://openalex.org/W2354985678","https://openalex.org/W2366276599","https://openalex.org/W2154335066","https://openalex.org/W2112869933","https://openalex.org/W1544907625","https://openalex.org/W2385715668","https://openalex.org/W2365938927","https://openalex.org/W2091447333"],"abstract_inverted_index":{"The":[0],"paper":[1],"aims":[2],"to":[3,29],"analyze":[4],"the":[5,34,49,52,74,85,89],"kinematics":[6,42,86],"of":[7,73,92],"a":[8,19],"three-degree-of-freedom":[9],"(3-DOF)":[10],"in-parallel":[11],"actuated":[12],"mechanism,":[13],"which":[14],"can":[15,43,63],"be":[16,44,64],"used":[17],"as":[18],"wrist":[20],"robotic":[21],"device.":[22],"Basic":[23],"kinematic":[24],"models":[25],"are":[26],"given.":[27],"Due":[28],"symmetry":[30],"in":[31,39],"mechanism":[32,78],"geometry,":[33],"input-output":[35],"polynomial":[36],"degree":[37],"derived":[38],"position":[40],"forward":[41],"considerably":[45],"reduced.":[46],"By":[47],"analyzing":[48],"relationship":[50],"between":[51],"independent":[53],"and":[54,81,88],"dependent":[55],"motion":[56],"parameters,":[57],"3":[58,60],"by":[59],"Jacobian":[61],"matrices":[62],"obtained.":[65],"This":[66],"will":[67],"enable":[68],"further":[69],"real":[70],"time":[71],"control":[72],"mechanism.":[75],"A":[76],"prototype":[77],"is":[79],"designed":[80],"fabricated":[82],"based":[83],"on":[84],"analysis":[87],"simulation":[90],"result":[91],"workspace":[93],"volume":[94],"computation.":[95]},"counts_by_year":[{"year":2021,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}