{"id":"https://openalex.org/W2002367982","doi":"https://doi.org/10.1109/iros.2005.1545144","title":"Optimal design of parallel manipulators for maximum effective regular workspace","display_name":"Optimal design of parallel manipulators for maximum effective regular workspace","publication_year":2005,"publication_date":"2005-01-01","ids":{"openalex":"https://openalex.org/W2002367982","doi":"https://doi.org/10.1109/iros.2005.1545144","mag":"2002367982"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2005.1545144","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2005.1545144","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2005 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5087749601","display_name":"Yunjiang Lou","orcid":"https://orcid.org/0000-0001-8203-7795"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Yunjiang Lou","raw_affiliation_strings":["Department of Electrical and Electronic Engineering, Hong Kong University of Science and Technology, Hong Kong, China","Dept. of Electr. & Electron. Eng., Hong Kong Univ. of Sci. & Tech., Kowloon, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Electronic Engineering, Hong Kong University of Science and Technology, Hong Kong, China","institution_ids":["https://openalex.org/I200769079"]},{"raw_affiliation_string":"Dept. of Electr. & Electron. Eng., Hong Kong Univ. of Sci. & Tech., Kowloon, China","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070515519","display_name":"Guanfeng Liu","orcid":"https://orcid.org/0000-0001-8980-4950"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Guanfeng Liu","raw_affiliation_strings":["Department of Electrical and Electronic Engineering, Hong Kong University of Science and Technology, Hong Kong, China","Dept. of Electr. & Electron. Eng., Hong Kong Univ. of Sci. & Tech., Kowloon, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Electronic Engineering, Hong Kong University of Science and Technology, Hong Kong, China","institution_ids":["https://openalex.org/I200769079"]},{"raw_affiliation_string":"Dept. of Electr. & Electron. Eng., Hong Kong Univ. of Sci. & Tech., Kowloon, China","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100753996","display_name":"Ni Chen","orcid":"https://orcid.org/0000-0002-2175-9070"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Ni Chen","raw_affiliation_strings":["Department of Electrical and Electronic Engineering, Hong Kong University of Science and Technology, Hong Kong, China","Dept. of Electr. & Electron. Eng., Hong Kong Univ. of Sci. & Tech., Kowloon, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Electronic Engineering, Hong Kong University of Science and Technology, Hong Kong, China","institution_ids":["https://openalex.org/I200769079"]},{"raw_affiliation_string":"Dept. of Electr. & Electron. Eng., Hong Kong Univ. of Sci. & Tech., Kowloon, China","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100784553","display_name":"Zexiang Li","orcid":"https://orcid.org/0000-0002-7920-6436"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Zexiang Li","raw_affiliation_strings":["Department of Electrical and Electronic Engineering, Hong Kong University of Science and Technology, Hong Kong, China","Dept. of Electr. & Electron. Eng., Hong Kong Univ. of Sci. & Tech., Kowloon, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Electronic Engineering, Hong Kong University of Science and Technology, Hong Kong, China","institution_ids":["https://openalex.org/I200769079"]},{"raw_affiliation_string":"Dept. of Electr. & Electron. Eng., Hong Kong Univ. of Sci. & Tech., Kowloon, China","institution_ids":["https://openalex.org/I200769079"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I200769079"],"apc_list":null,"apc_paid":null,"fwci":8.667,"has_fulltext":false,"cited_by_count":65,"citation_normalized_percentile":{"value":0.98518205,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"795","last_page":"800"},"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/T11301","display_name":"Advanced Surface Polishing Techniques","score":0.9983999729156494,"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"}},{"id":"https://openalex.org/T11583","display_name":"Advanced Measurement and Metrology Techniques","score":0.992900013923645,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.9917622804641724},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7295856475830078},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6445865631103516},{"id":"https://openalex.org/keywords/optimal-design","display_name":"Optimal design","score":0.5722498893737793},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5014374256134033},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.49202510714530945},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4771299362182617},{"id":"https://openalex.org/keywords/stewart-platform","display_name":"Stewart platform","score":0.4435460567474365},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.41094303131103516},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2732403874397278},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1669398546218872},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1651780605316162},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.07540500164031982}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.9917622804641724},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7295856475830078},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6445865631103516},{"id":"https://openalex.org/C186394612","wikidata":"https://www.wikidata.org/wiki/Q7098942","display_name":"Optimal design","level":2,"score":0.5722498893737793},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5014374256134033},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.49202510714530945},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4771299362182617},{"id":"https://openalex.org/C69769044","wikidata":"https://www.wikidata.org/wiki/Q2041113","display_name":"Stewart platform","level":3,"score":0.4435460567474365},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.41094303131103516},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2732403874397278},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1669398546218872},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1651780605316162},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.07540500164031982},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2005.1545144","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2005.1545144","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2005 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:repository.hkust.edu.hk:1783.1-45729","is_oa":false,"landing_page_url":"http://repository.hkust.edu.hk/ir/Record/1783.1-45729","pdf_url":null,"source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Conference paper"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W35589853","https://openalex.org/W227891659","https://openalex.org/W1501399145","https://openalex.org/W1968738846","https://openalex.org/W1980232872","https://openalex.org/W1981371731","https://openalex.org/W1986689081","https://openalex.org/W2006227982","https://openalex.org/W2032117693","https://openalex.org/W2066133103","https://openalex.org/W2073483345","https://openalex.org/W2105419870","https://openalex.org/W2118439011","https://openalex.org/W2120995815","https://openalex.org/W2123859926","https://openalex.org/W2126800480","https://openalex.org/W2127910637","https://openalex.org/W2148798706","https://openalex.org/W3145558417","https://openalex.org/W4254772338"],"related_works":["https://openalex.org/W2139993144","https://openalex.org/W2161214141","https://openalex.org/W2356332059","https://openalex.org/W2326117494","https://openalex.org/W2102645302","https://openalex.org/W2362652060","https://openalex.org/W2066019639","https://openalex.org/W2357403317","https://openalex.org/W2394251694","https://openalex.org/W2381671313"],"abstract_inverted_index":{"Kinematic":[0],"design":[1,53,72,115],"of":[2,26,48],"parallel":[3],"manipulators":[4],"is":[5,42,55,74,96,107],"addressed":[6],"in":[7],"this":[8],"paper.":[9],"By":[10],"observation":[11],"that":[12,63],"regular":[13,28,67],"(e.g.,":[14],"hyper-rectangular)":[15],"workspaces":[16],"are":[17],"desirable":[18],"for":[19],"most":[20],"machines,":[21],"we":[22],"propose":[23],"the":[24,35,46,49,65,70,84,101,114],"concept":[25],"effective":[27,66],"workspace,":[29],"which":[30,90],"reflects":[31],"both":[32],"requirements":[33],"on":[34],"workspace":[36],"shape":[37],"and":[38,94],"quality.":[39],"Dexterity":[40],"index":[41],"utilized":[43],"to":[44,58,98,112],"characterize":[45],"effectiveness":[47],"workspace.":[50,68],"The":[51,103],"optimal":[52,71],"problem":[54,73,79],"then":[56],"formulated":[57],"find":[59],"a":[60,75],"manipulator":[61],"geometry":[62],"maximizes":[64],"Since":[69],"constrained":[76],"nonlinear":[77],"optimization":[78],"without":[80],"explicit":[81],"analytical":[82],"expressions,":[83],"controlled":[85],"random":[86],"search":[87],"(CRS)":[88],"technique,":[89],"was":[91],"reported":[92],"robust":[93],"reliable,":[95],"applied":[97],"numerically":[99],"solve":[100],"problem.":[102],"commonly-used":[104],"Stewart-Gough":[105],"platform":[106],"employed":[108],"as":[109],"an":[110],"example":[111],"demonstrate":[113],"procedure.":[116]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2021,"cited_by_count":9},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":6},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":2}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}