{"id":"https://openalex.org/W2086797246","doi":"https://doi.org/10.1109/icra.2014.6907699","title":"A novel (3T-2R) parallel mechanism with large operational workspace and rotational capability","display_name":"A novel (3T-2R) parallel mechanism with large operational workspace and rotational capability","publication_year":2014,"publication_date":"2014-05-01","ids":{"openalex":"https://openalex.org/W2086797246","doi":"https://doi.org/10.1109/icra.2014.6907699","mag":"2086797246"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2014.6907699","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2014.6907699","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal-lirmm.ccsd.cnrs.fr/lirmm-01275355","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5051847038","display_name":"Samah Shayya","orcid":null},"institutions":[{"id":"https://openalex.org/I19894307","display_name":"Universit\u00e9 de Montpellier","ror":"https://ror.org/051escj72","country_code":"FR","type":"education","lineage":["https://openalex.org/I19894307"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Samah Shayya","raw_affiliation_strings":["Tecnalia France - MIDI Building, Montpellier, France","Montpellier Lab. of Inf., Robot., & Microelectron. (LIRMM in French), Montpellier Univ. of Sci. & Technol. (UM2), Montpellier, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tecnalia France - MIDI Building, Montpellier, France","institution_ids":[]},{"raw_affiliation_string":"Montpellier Lab. of Inf., Robot., & Microelectron. (LIRMM in French), Montpellier Univ. of Sci. & Technol. (UM2), Montpellier, France","institution_ids":["https://openalex.org/I19894307"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5105424584","display_name":"S\u00e9bastien Krut","orcid":null},"institutions":[{"id":"https://openalex.org/I110357561","display_name":"University of the Sciences","ror":"https://ror.org/048gmay44","country_code":"US","type":"education","lineage":["https://openalex.org/I110357561"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sebastien Krut","raw_affiliation_strings":["Tecnalia France - MIDI Building, Montpellier, France","University of the Sciences, Philadelphia, United States"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tecnalia France - MIDI Building, Montpellier, France","institution_ids":[]},{"raw_affiliation_string":"University of the Sciences, Philadelphia, United States","institution_ids":["https://openalex.org/I110357561"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Olivier Company","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Olivier Company","raw_affiliation_strings":["Tecnalia France - MIDI Building, Montpellier, France","Tecnalia France - MIBI Building, 672 Rue du Mas de Verchant, 34000 Montpellier, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tecnalia France - MIDI Building, Montpellier, France","institution_ids":[]},{"raw_affiliation_string":"Tecnalia France - MIBI Building, 672 Rue du Mas de Verchant, 34000 Montpellier, France","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5107845532","display_name":"C\u00e9dric Baradat","orcid":null},"institutions":[{"id":"https://openalex.org/I110357561","display_name":"University of the Sciences","ror":"https://ror.org/048gmay44","country_code":"US","type":"education","lineage":["https://openalex.org/I110357561"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Cedric Baradat","raw_affiliation_strings":["Tecnalia France - MIDI Building, Montpellier, France","University of the Sciences, Philadelphia, United States"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tecnalia France - MIDI Building, Montpellier, France","institution_ids":[]},{"raw_affiliation_string":"University of the Sciences, Philadelphia, United States","institution_ids":["https://openalex.org/I110357561"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5039128487","display_name":"Fran\u00e7ois Pierrot","orcid":"https://orcid.org/0000-0002-9638-4357"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Francois Pierrot","raw_affiliation_strings":["Tecnalia France - MIDI Building, Montpellier, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tecnalia France - MIDI Building, Montpellier, France","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.8638,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.84358351,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"58","issue":null,"first_page":"5712","last_page":"5719"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9977999925613403,"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/T11749","display_name":"Iterative Learning Control Systems","score":0.9932000041007996,"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":0.9475089311599731},{"id":"https://openalex.org/keywords/singularity","display_name":"Singularity","score":0.7057853937149048},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.6974690556526184},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6969742178916931},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6836367249488831},{"id":"https://openalex.org/keywords/screw-theory","display_name":"Screw theory","score":0.6320404410362244},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.6066866517066956},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5784600377082825},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.56452476978302},{"id":"https://openalex.org/keywords/isotropy","display_name":"Isotropy","score":0.5365486145019531},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5296338200569153},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4731995761394501},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.4448162913322449},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.41466087102890015},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.36373454332351685},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.317306250333786},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.23237988352775574},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.20346492528915405},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1322333812713623},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.1261913776397705},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.07770845293998718}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.9475089311599731},{"id":"https://openalex.org/C16171025","wikidata":"https://www.wikidata.org/wiki/Q863349","display_name":"Singularity","level":2,"score":0.7057853937149048},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.6974690556526184},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6969742178916931},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6836367249488831},{"id":"https://openalex.org/C18788176","wikidata":"https://www.wikidata.org/wiki/Q7891441","display_name":"Screw theory","level":3,"score":0.6320404410362244},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.6066866517066956},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5784600377082825},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.56452476978302},{"id":"https://openalex.org/C184050105","wikidata":"https://www.wikidata.org/wiki/Q273163","display_name":"Isotropy","level":2,"score":0.5365486145019531},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5296338200569153},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4731995761394501},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.4448162913322449},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.41466087102890015},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.36373454332351685},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.317306250333786},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.23237988352775574},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20346492528915405},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1322333812713623},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.1261913776397705},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.07770845293998718},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","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},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/icra.2014.6907699","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2014.6907699","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:dsp.tecnalia.com:11556/2237","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ICRA.2014.6907699","pdf_url":null,"source":{"id":"https://openalex.org/S4306402037","display_name":"TECNALIA Publications (Fundaci\u00f3n TECNALIA Research & Innovation)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210113430","host_organization_name":"Tecnalia","host_organization_lineage":["https://openalex.org/I4210113430"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"conference output"},{"id":"pmh:oai:HAL:lirmm-01275355v1","is_oa":true,"landing_page_url":"https://hal-lirmm.ccsd.cnrs.fr/lirmm-01275355","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.icra2014.com","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:HAL:lirmm-01275355v1","is_oa":true,"landing_page_url":"https://hal-lirmm.ccsd.cnrs.fr/lirmm-01275355","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.icra2014.com","raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G4993965127","display_name":"R\u00e9seau national de plateformes robotiques d'excellence","funder_award_id":"ANR-10-EQPX-0044","funder_id":"https://openalex.org/F4320320883","funder_display_name":"Agence Nationale de la Recherche"},{"id":"https://openalex.org/G8610001388","display_name":"Accurate and Rapid Robots with large Operational Workspace","funder_award_id":"ANR-11-BS03-0006","funder_id":"https://openalex.org/F4320320883","funder_display_name":"Agence Nationale de la Recherche"}],"funders":[{"id":"https://openalex.org/F4320320883","display_name":"Agence Nationale de la Recherche","ror":"https://ror.org/00rbzpz17"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W377667925","https://openalex.org/W1546490799","https://openalex.org/W1860661296","https://openalex.org/W1984381568","https://openalex.org/W2044903804","https://openalex.org/W2066817114","https://openalex.org/W2088030464","https://openalex.org/W2113265921","https://openalex.org/W2137941699","https://openalex.org/W2148127540","https://openalex.org/W2739671045","https://openalex.org/W4285719527","https://openalex.org/W6677390752","https://openalex.org/W6741955531"],"related_works":["https://openalex.org/W2362652060","https://openalex.org/W2357403317","https://openalex.org/W2066019639","https://openalex.org/W2009316821","https://openalex.org/W2394251694","https://openalex.org/W2090392331","https://openalex.org/W2384323131","https://openalex.org/W2022764191","https://openalex.org/W2115657261","https://openalex.org/W2162859138"],"abstract_inverted_index":{"The":[0,10,75],"paper":[1,76],"presents":[2,105],"a":[3,69],"novel":[4,79],"5":[5,28],"dofs":[6],"(3T-2R)":[7],"parallel":[8,73],"mechanism.":[9],"mechanism":[11,80],"is":[12,43,68],"characterized":[13],"by":[14,49],"large":[15,20],"singularity-free":[16],"workspace":[17,107],"and":[18,30,84,95,104,116],"particularly":[19],"rotational":[21],"capability":[22],"which":[23,67],"makes":[24],"it":[25,99],"suitable":[26],"for":[27],"face-machining":[29],"similar":[31],"applications.":[32],"Having":[33],"all":[34],"its":[35,82,91,101],"prismatic":[36,50],"actuators":[37],"along":[38],"x":[39],"direction,":[40],"the":[41,78],"x-motion":[42],"independent":[44],"from":[45],"other":[46],"dofs-only":[47],"limited":[48],"actuators'":[51],"strokes-constituting":[52],"another":[53],"major":[54],"advantageous":[55],"feature.":[56],"Besides,":[57],"an":[58],"analytical":[59],"direct":[60,85],"geometric":[61,86],"model":[62],"can":[63],"be":[64],"easily":[65],"established":[66],"rare":[70],"feature":[71],"in":[72],"robots.":[74],"introduces":[77],"with":[81],"inverse":[83,96],"models":[87,93],"as":[88,90],"well":[89],"kinematic":[92],"(forward":[94],"Jacobians).":[97],"Also,":[98],"discusses":[100],"singularity":[102],"analysis":[103],"sample":[106],"plots":[108],"evaluated":[109],"based":[110],"on":[111],"isotropic":[112],"performance":[113],"regarding":[114],"velocity":[115],"static":[117],"force.":[118]},"counts_by_year":[{"year":2019,"cited_by_count":3},{"year":2017,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}