{"id":"https://openalex.org/W2017532866","doi":"https://doi.org/10.1109/icca.2010.5524279","title":"A generalized method for determining load workspace of spatial parallel mechanisms","display_name":"A generalized method for determining load workspace of spatial parallel mechanisms","publication_year":2010,"publication_date":"2010-06-01","ids":{"openalex":"https://openalex.org/W2017532866","doi":"https://doi.org/10.1109/icca.2010.5524279","mag":"2017532866"},"language":"en","primary_location":{"id":"doi:10.1109/icca.2010.5524279","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icca.2010.5524279","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE ICCA 2010","raw_type":"proceedings-article"},"type":"conference-paper","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/A5074521786","display_name":"A. Mahmoodi","orcid":null},"institutions":[{"id":"https://openalex.org/I158248296","display_name":"Amirkabir University of Technology","ror":"https://ror.org/04gzbav43","country_code":"IR","type":"education","lineage":["https://openalex.org/I158248296"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"A. Mahmoodi","raw_affiliation_strings":["Engineering Department, Amirkabir University of Technology\uc2a0, Iran","Aerospace Engineering Department, Amirkabir university of technology, Tehran, Iran"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Engineering Department, Amirkabir University of Technology\uc2a0, Iran","institution_ids":["https://openalex.org/I158248296"]},{"raw_affiliation_string":"Aerospace Engineering Department, Amirkabir university of technology, Tehran, Iran","institution_ids":["https://openalex.org/I158248296"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084792905","display_name":"Masoumeh Aminzadeh","orcid":"https://orcid.org/0000-0003-2853-0356"},"institutions":[{"id":"https://openalex.org/I158248296","display_name":"Amirkabir University of Technology","ror":"https://ror.org/04gzbav43","country_code":"IR","type":"education","lineage":["https://openalex.org/I158248296"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"M. Aminzadeh","raw_affiliation_strings":["Electrical Engineering Department, Amirkabir University of Technology\uc2a0, Tehran, Iran","Aerospace Engineering Department, Amirkabir University of Technology, Iran"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Electrical Engineering Department, Amirkabir University of Technology\uc2a0, Tehran, Iran","institution_ids":["https://openalex.org/I158248296"]},{"raw_affiliation_string":"Aerospace Engineering Department, Amirkabir University of Technology, Iran","institution_ids":["https://openalex.org/I158248296"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051122758","display_name":"Mohammad Bagher Menhaj","orcid":"https://orcid.org/0000-0002-9470-5532"},"institutions":[{"id":"https://openalex.org/I158248296","display_name":"Amirkabir University of Technology","ror":"https://ror.org/04gzbav43","country_code":"IR","type":"education","lineage":["https://openalex.org/I158248296"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"M.B. Menhaj","raw_affiliation_strings":["Electrical Engineering Department, Amirkabir University of Technology\uc2a0, Tehran, Iran","Electrical Engineering Department, Amirkabir University of Technology, Tehran-IRAN"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Electrical Engineering Department, Amirkabir University of Technology\uc2a0, Tehran, Iran","institution_ids":["https://openalex.org/I158248296"]},{"raw_affiliation_string":"Electrical Engineering Department, Amirkabir University of Technology, Tehran-IRAN","institution_ids":["https://openalex.org/I158248296"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5033232597","display_name":"Mehdi Sabzehparvar","orcid":"https://orcid.org/0000-0002-8228-6000"},"institutions":[{"id":"https://openalex.org/I158248296","display_name":"Amirkabir University of Technology","ror":"https://ror.org/04gzbav43","country_code":"IR","type":"education","lineage":["https://openalex.org/I158248296"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"M. SabzehParvar","raw_affiliation_strings":["Engineering Department, Amirkabir University of Technology\uc2a0, Iran","Aerospace Engineering Department, Amirkabir university of technology, Tehran, Iran"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Engineering Department, Amirkabir University of Technology\uc2a0, Iran","institution_ids":["https://openalex.org/I158248296"]},{"raw_affiliation_string":"Aerospace Engineering Department, Amirkabir university of technology, Tehran, Iran","institution_ids":["https://openalex.org/I158248296"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I158248296"],"apc_list":null,"apc_paid":null,"fwci":1.2209,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.7533874,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"1360","last_page":"1365"},"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9977999925613403,"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/T13752","display_name":"Mechanics and Biomechanics Studies","score":0.9919000267982483,"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":0.9660506248474121},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7666459679603577},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7199617624282837},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5896981358528137},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.533447802066803},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.5125164985656738},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4837084412574768},{"id":"https://openalex.org/keywords/piecewise","display_name":"Piecewise","score":0.479657918214798},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.451936811208725},{"id":"https://openalex.org/keywords/serial-manipulator","display_name":"Serial manipulator","score":0.43934375047683716},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.36072832345962524},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.32636702060699463},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.20367968082427979},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.19885334372520447},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.17455092072486877},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13761505484580994},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.11348140239715576},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09870025515556335},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.08803534507751465}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.9660506248474121},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7666459679603577},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7199617624282837},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5896981358528137},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.533447802066803},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.5125164985656738},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4837084412574768},{"id":"https://openalex.org/C164660894","wikidata":"https://www.wikidata.org/wiki/Q2037833","display_name":"Piecewise","level":2,"score":0.479657918214798},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.451936811208725},{"id":"https://openalex.org/C120910303","wikidata":"https://www.wikidata.org/wiki/Q7454692","display_name":"Serial manipulator","level":4,"score":0.43934375047683716},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.36072832345962524},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.32636702060699463},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.20367968082427979},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.19885334372520447},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.17455092072486877},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13761505484580994},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.11348140239715576},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09870025515556335},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.08803534507751465},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icca.2010.5524279","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icca.2010.5524279","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE ICCA 2010","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8100000023841858,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":5,"referenced_works":["https://openalex.org/W2053411443","https://openalex.org/W2064583495","https://openalex.org/W2114749235","https://openalex.org/W2286995546","https://openalex.org/W7011295598"],"related_works":["https://openalex.org/W2362652060","https://openalex.org/W2357403317","https://openalex.org/W2066019639","https://openalex.org/W2394251694","https://openalex.org/W2026756596","https://openalex.org/W2635001913","https://openalex.org/W1875852913","https://openalex.org/W1917399524","https://openalex.org/W2948497870","https://openalex.org/W3013992645"],"abstract_inverted_index":{"An":[0],"analytical-numerical":[1],"method":[2,50,210,234,240,258],"based":[3],"on":[4,117,144],"solution":[5,40],"of":[6,16,27,41,62,68,78,83,101,108,126,176,195,204,208,214,238,247,254,265],"inverse":[7,42],"dynamics":[8],"is":[9,32,44,51,73,90,171,198,216,259],"presented":[10],"for":[11,54,92],"determining":[12],"the":[13,36,39,47,60,64,93,96,118,127,134,141,167,174,181,193,202,209,233,239,245,249],"load":[14],"workspace":[15,31,65,98,169,178],"generally":[17],"configured":[18],"parallel":[19,255],"motion":[20,56,85,224,268],"systems":[21,57,269],"with":[22,136],"up":[23],"to":[24,58,75,150,165,200,211,231],"6":[25],"degrees":[26,77,213],"freedom.":[28,79],"The":[29,49,111,157,206,236,257],"kinematic":[30,97,177],"also":[33,260],"obtained":[34,159],"by":[35,66],"method,":[37],"since":[38],"kinematics":[43],"embedded":[45],"in":[46,95,160,179,244,262,270],"procedure.":[48],"first":[52],"developed":[53],"3DoF":[55,84,222],"take":[59],"advantages":[61],"illustrating":[63],"use":[67],"3D":[69],"plots.":[70],"Then":[71],"it":[72,122],"extended":[74],"higher":[76,212],"For":[80],"such":[81,120],"types":[82],"systems,":[86],"a":[87,221,227],"generalized":[88],"trajectory":[89,119],"defined":[91,172],"manipulator":[94],"that":[99,121],"consists":[100],"straight":[102],"paths":[103],"connecting":[104],"26":[105],"selected":[106,128],"points":[107],"workspace's":[109],"boundary.":[110],"platform":[112,142,225],"performs":[113],"piecewise":[114],"sinusoidal":[115],"movements":[116],"stops":[123],"at":[124],"each":[125],"point":[129],"and":[130,154,226,252],"goes":[131],"ahead":[132],"toward":[133],"other":[135],"maximum":[137],"allowable":[138],"speed.":[139],"As":[140,218],"moves":[143],"this":[145,161,191],"trajectory,":[146],"legs":[147],"are":[148,163,229],"exposed":[149],"any":[151],"possible":[152],"static":[153],"dynamic":[155],"forces.":[156],"forces":[158,183],"way":[162],"used":[164,243],"determine":[166],"force":[168],"which":[170,180],"as":[173],"subspace":[175],"structural":[182,196,263],"do":[184],"not":[185],"exceed":[186],"their":[187],"critical":[188],"values.":[189],"In":[190],"paper,":[192],"criterion":[194],"failure":[197],"considered":[199],"be":[201,242],"buckling":[203],"legs.":[205],"generalization":[207],"freedom":[215],"straightforward.":[217],"case":[219],"studies,":[220],"heave-roll-pitch":[223],"hexapod":[228],"chosen":[230],"apply":[232],"to.":[235],"results":[237],"can":[241],"design":[246,264],"both":[248],"control":[250],"system":[251],"structure":[253],"manipulators.":[256],"advantageous":[261],"large":[266],"sizes":[267],"flight":[271],"simulator":[272],"application.":[273]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}