{"id":"https://openalex.org/W1540633307","doi":"https://doi.org/10.1109/icit.2015.7125570","title":"Piecewise kinematically redundant planar parallel manipulator for a hybrid machine tool","display_name":"Piecewise kinematically redundant planar parallel manipulator for a hybrid machine tool","publication_year":2015,"publication_date":"2015-03-01","ids":{"openalex":"https://openalex.org/W1540633307","doi":"https://doi.org/10.1109/icit.2015.7125570","mag":"1540633307"},"language":"en","primary_location":{"id":"doi:10.1109/icit.2015.7125570","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icit.2015.7125570","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 Industrial Technology (ICIT)","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/A5051725626","display_name":"Samy F. M. Assal","orcid":"https://orcid.org/0000-0002-7997-4363"},"institutions":[{"id":"https://openalex.org/I32619867","display_name":"Egypt-Japan University of Science and Technology","ror":"https://ror.org/02x66tk73","country_code":"EG","type":"education","lineage":["https://openalex.org/I32619867"]},{"id":"https://openalex.org/I21376657","display_name":"Tanta University","ror":"https://ror.org/016jp5b92","country_code":"EG","type":"education","lineage":["https://openalex.org/I21376657"]}],"countries":["EG"],"is_corresponding":true,"raw_author_name":"Samy F. M. Assal","raw_affiliation_strings":["Mechatronics and Robotics Engineering Department, Egypt-Japan University of Science and Technology (E-JUST), Porg-ElArab, Egypt","On leave: Department of Production Engineering and Mechanical Design, Tanta University, Tanta, Egypt"],"affiliations":[{"raw_affiliation_string":"Mechatronics and Robotics Engineering Department, Egypt-Japan University of Science and Technology (E-JUST), Porg-ElArab, Egypt","institution_ids":["https://openalex.org/I32619867"]},{"raw_affiliation_string":"On leave: Department of Production Engineering and Mechanical Design, Tanta University, Tanta, Egypt","institution_ids":["https://openalex.org/I21376657"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5051725626"],"corresponding_institution_ids":["https://openalex.org/I21376657","https://openalex.org/I32619867"],"apc_list":null,"apc_paid":null,"fwci":0.3366,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.62234043,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"2","issue":null,"first_page":"3196","last_page":"3201"},"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/T11749","display_name":"Iterative Learning Control Systems","score":0.9915000200271606,"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":0.9908000230789185,"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/workspace","display_name":"Workspace","score":0.859581470489502},{"id":"https://openalex.org/keywords/redundancy","display_name":"Redundancy (engineering)","score":0.77376788854599},{"id":"https://openalex.org/keywords/revolute-joint","display_name":"Revolute joint","score":0.7664923667907715},{"id":"https://openalex.org/keywords/piecewise","display_name":"Piecewise","score":0.7065383791923523},{"id":"https://openalex.org/keywords/gravitational-singularity","display_name":"Gravitational singularity","score":0.6611064672470093},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5741021633148193},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5725444555282593},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5323382616043091},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.5008549690246582},{"id":"https://openalex.org/keywords/usable","display_name":"USable","score":0.4859501123428345},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.480605810880661},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.4358668327331543},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3519383668899536},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.3375137150287628},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3271084427833557},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.23487576842308044},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22283488512039185},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21444761753082275},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.12707367539405823},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08945140242576599}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.859581470489502},{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.77376788854599},{"id":"https://openalex.org/C5643039","wikidata":"https://www.wikidata.org/wiki/Q3819341","display_name":"Revolute joint","level":3,"score":0.7664923667907715},{"id":"https://openalex.org/C164660894","wikidata":"https://www.wikidata.org/wiki/Q2037833","display_name":"Piecewise","level":2,"score":0.7065383791923523},{"id":"https://openalex.org/C12843","wikidata":"https://www.wikidata.org/wiki/Q201721","display_name":"Gravitational singularity","level":2,"score":0.6611064672470093},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5741021633148193},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5725444555282593},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5323382616043091},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.5008549690246582},{"id":"https://openalex.org/C2780615836","wikidata":"https://www.wikidata.org/wiki/Q2471869","display_name":"USable","level":2,"score":0.4859501123428345},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.480605810880661},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.4358668327331543},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3519383668899536},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.3375137150287628},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3271084427833557},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.23487576842308044},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22283488512039185},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21444761753082275},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.12707367539405823},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08945140242576599},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.0},{"id":"https://openalex.org/C136764020","wikidata":"https://www.wikidata.org/wiki/Q466","display_name":"World Wide Web","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},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icit.2015.7125570","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icit.2015.7125570","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 Industrial Technology (ICIT)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.47999998927116394}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W18288968","https://openalex.org/W1601635811","https://openalex.org/W1965823639","https://openalex.org/W1970444047","https://openalex.org/W1971857528","https://openalex.org/W1985162867","https://openalex.org/W1997047361","https://openalex.org/W2015516737","https://openalex.org/W2047782333","https://openalex.org/W2049853724","https://openalex.org/W2064330408","https://openalex.org/W2071108842","https://openalex.org/W2074926812","https://openalex.org/W2084614233","https://openalex.org/W2105174847","https://openalex.org/W2125831151","https://openalex.org/W2145891670","https://openalex.org/W2776532734","https://openalex.org/W4230902069","https://openalex.org/W6600740208","https://openalex.org/W6747002454","https://openalex.org/W6995750748"],"related_works":["https://openalex.org/W2362652060","https://openalex.org/W2357403317","https://openalex.org/W2066019639","https://openalex.org/W2394251694","https://openalex.org/W2162387372","https://openalex.org/W2026756596","https://openalex.org/W2138030819","https://openalex.org/W1917399524","https://openalex.org/W4388343518","https://openalex.org/W2635001913"],"abstract_inverted_index":{"It":[0],"is":[1,12,41,54,79,124],"well-known":[2],"that,":[3],"one":[4,36],"of":[5,9,63],"the":[6,18,109,140],"main":[7],"disadvantages":[8],"parallel":[10,35],"manipulators":[11],"their":[13,23],"abundant":[14],"singularities":[15,130],"that":[16],"diminish":[17],"usable":[19],"workspace":[20],"and":[21,74,118,135],"limit":[22],"applications":[24],"for":[25,46],"machine":[26,49],"tools.":[27],"To":[28,107],"overcome":[29],"this":[30,44],"problem,":[31],"a":[32,38,47,87],"3-PPR":[33],"planar":[34],"in":[37,43,61,86,139],"non-conventional":[39],"architecture":[40,53],"developed":[42],"paper":[45],"hybrid":[48],"tool.":[50],"The":[51,120],"proposed":[52,121],"shown":[55,125],"to":[56,81,99,126],"have":[57],"some":[58],"kinematic":[59],"advantages":[60],"terms":[62],"partially":[64],"decoupled":[65],"motion,":[66],"large":[67],"workspace,":[68],"unlimited":[69],"orientation":[70],"capability,":[71],"base-mounted":[72],"actuators":[73],"no":[75,136],"singularities.":[76],"Moreover,":[77],"it":[78],"designed":[80],"be":[82],"possibly":[83],"kinematically":[84,104],"redundant":[85,105,122],"piecewise":[88],"manner":[89],"whenever":[90],"needed.":[91],"Two":[92],"identical":[93],"active":[94],"revolute":[95],"joints":[96],"are":[97,116],"added":[98],"two":[100,111],"limbs":[101],"yielding":[102],"1-PPR+2-PRPR":[103],"architecture.":[106],"tackle":[108],"redundancy,":[110],"real-time":[112],"redundancy":[113],"resolution":[114],"approaches":[115],"presented":[117],"compared.":[119],"manipulator":[123],"effectively":[127],"pass":[128],"through":[129],"with":[131],"feasible":[132],"joint":[133],"velocities":[134],"abrupt":[137],"changes":[138],"profile.":[141]},"counts_by_year":[{"year":2019,"cited_by_count":1},{"year":2016,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}