{"id":"https://openalex.org/W2121326463","doi":"https://doi.org/10.1109/iros.2009.5354216","title":"Kinematic analysis and design of a new 3T1R 4-DOF parallel mechanism with rotational pitch motion","display_name":"Kinematic analysis and design of a new 3T1R 4-DOF parallel mechanism with rotational pitch motion","publication_year":2009,"publication_date":"2009-10-01","ids":{"openalex":"https://openalex.org/W2121326463","doi":"https://doi.org/10.1109/iros.2009.5354216","mag":"2121326463"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2009.5354216","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354216","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5070766248","display_name":"Sung Mok Kim","orcid":"https://orcid.org/0000-0001-5190-2328"},"institutions":[{"id":"https://openalex.org/I197347611","display_name":"Korea University","ror":"https://ror.org/047dqcg40","country_code":"KR","type":"education","lineage":["https://openalex.org/I197347611"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Sung Mok Kim","raw_affiliation_strings":["Department of Control and Instrumentation Engineering, Korea University, South Korea","Dept. of Control and Instrumentation Eng., Korea University, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Control and Instrumentation Engineering, Korea University, South Korea","institution_ids":["https://openalex.org/I197347611"]},{"raw_affiliation_string":"Dept. of Control and Instrumentation Eng., Korea University, Korea","institution_ids":["https://openalex.org/I197347611"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021079573","display_name":"Wheekuk Kim","orcid":null},"institutions":[{"id":"https://openalex.org/I197347611","display_name":"Korea University","ror":"https://ror.org/047dqcg40","country_code":"KR","type":"education","lineage":["https://openalex.org/I197347611"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Wheekuk Kim","raw_affiliation_strings":["Department of Control and Instrumentation Engineering, Korea University, South Korea","Dept. of Control and Instrumentation Eng., Korea University, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Control and Instrumentation Engineering, Korea University, South Korea","institution_ids":["https://openalex.org/I197347611"]},{"raw_affiliation_string":"Dept. of Control and Instrumentation Eng., Korea University, Korea","institution_ids":["https://openalex.org/I197347611"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5112558760","display_name":"Byung-Ju Yi","orcid":null},"institutions":[{"id":"https://openalex.org/I4575257","display_name":"Hanyang University","ror":"https://ror.org/046865y68","country_code":"KR","type":"education","lineage":["https://openalex.org/I4575257"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Byung-Ju Yi","raw_affiliation_strings":["School of Electrical Engineering and Computer Science, Hanyang University, South Korea","School of Electrical Engineering and Computer Science, Hanyang University, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Computer Science, Hanyang University, South Korea","institution_ids":["https://openalex.org/I4575257"]},{"raw_affiliation_string":"School of Electrical Engineering and Computer Science, Hanyang University, Korea","institution_ids":["https://openalex.org/I4575257"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.7701,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.7807458,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"5167","last_page":"5172"},"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/T11525","display_name":"Piezoelectric Actuators and Control","score":0.995199978351593,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9937999844551086,"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/kinematics","display_name":"Kinematics","score":0.9054259657859802},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.8601574897766113},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.8044041395187378},{"id":"https://openalex.org/keywords/revolute-joint","display_name":"Revolute joint","score":0.7917301654815674},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.6505743265151978},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.633895754814148},{"id":"https://openalex.org/keywords/rotation-around-a-fixed-axis","display_name":"Rotation around a fixed axis","score":0.6136404275894165},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5618751049041748},{"id":"https://openalex.org/keywords/screw-theory","display_name":"Screw theory","score":0.5057430267333984},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4580894708633423},{"id":"https://openalex.org/keywords/motion-analysis","display_name":"Motion analysis","score":0.4487239718437195},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4453686475753784},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4449738562107086},{"id":"https://openalex.org/keywords/isotropy","display_name":"Isotropy","score":0.42643237113952637},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3531370759010315},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.29706138372421265},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.27261286973953247},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2349582016468048},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.20800697803497314},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.10573861002922058},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.06559818983078003}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.9054259657859802},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.8601574897766113},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.8044041395187378},{"id":"https://openalex.org/C5643039","wikidata":"https://www.wikidata.org/wiki/Q3819341","display_name":"Revolute joint","level":3,"score":0.7917301654815674},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.6505743265151978},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.633895754814148},{"id":"https://openalex.org/C6342182","wikidata":"https://www.wikidata.org/wiki/Q2995427","display_name":"Rotation around a fixed axis","level":2,"score":0.6136404275894165},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5618751049041748},{"id":"https://openalex.org/C18788176","wikidata":"https://www.wikidata.org/wiki/Q7891441","display_name":"Screw theory","level":3,"score":0.5057430267333984},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4580894708633423},{"id":"https://openalex.org/C2777036941","wikidata":"https://www.wikidata.org/wiki/Q6917771","display_name":"Motion analysis","level":2,"score":0.4487239718437195},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4453686475753784},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4449738562107086},{"id":"https://openalex.org/C184050105","wikidata":"https://www.wikidata.org/wiki/Q273163","display_name":"Isotropy","level":2,"score":0.42643237113952637},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3531370759010315},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.29706138372421265},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.27261286973953247},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2349582016468048},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.20800697803497314},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.10573861002922058},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.06559818983078003},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/iros.2009.5354216","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354216","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:repository.hanyang.ac.kr:20.500.11754/75007","is_oa":false,"landing_page_url":"http://repository.hanyang.ac.kr/handle/20.500.11754/75007","pdf_url":null,"source":{"id":"https://openalex.org/S4306401328","display_name":"The Royal Society of Chemistry\u2019s Journals, Books and Databases (The Royal Society of Chemistry)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2751430930","host_organization_name":"Royal Society of Chemistry","host_organization_lineage":["https://openalex.org/I2751430930"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article"},{"id":"pmh:oai:repository.hanyang.ac.kr:20.500.11754/84235","is_oa":false,"landing_page_url":"https://ieeexplore.ieee.org/document/5354216/","pdf_url":null,"source":{"id":"https://openalex.org/S4306401328","display_name":"The Royal Society of Chemistry\u2019s Journals, Books and Databases (The Royal Society of Chemistry)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2751430930","host_organization_name":"Royal Society of Chemistry","host_organization_lineage":["https://openalex.org/I2751430930"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.8199999928474426,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W173264240","https://openalex.org/W1256870269","https://openalex.org/W1556803688","https://openalex.org/W1979369573","https://openalex.org/W1981338117","https://openalex.org/W1999880281","https://openalex.org/W2039106280","https://openalex.org/W2067603569","https://openalex.org/W2096117953","https://openalex.org/W2096184522","https://openalex.org/W2105464933","https://openalex.org/W2118095791","https://openalex.org/W2126268930","https://openalex.org/W2142032247","https://openalex.org/W2142267409","https://openalex.org/W2150522533","https://openalex.org/W2285340735","https://openalex.org/W2341668857","https://openalex.org/W3043217108","https://openalex.org/W4237138202","https://openalex.org/W4256526535","https://openalex.org/W7065243650"],"related_works":["https://openalex.org/W4388343518","https://openalex.org/W2378875176","https://openalex.org/W1996977285","https://openalex.org/W96871061","https://openalex.org/W3148970067","https://openalex.org/W137099297","https://openalex.org/W2047126621","https://openalex.org/W1995115082","https://openalex.org/W2386342664","https://openalex.org/W2051802930"],"abstract_inverted_index":{"Less":[0],"degree-of-freedom":[1],"robots":[2],"are":[3,81,97,112],"useful":[4],"for":[5,78,106],"special":[6],"applications.":[7],"Specifically,":[8],"practical":[9],"application":[10],"of":[11,55,103],"4-DOF":[12,36,59],"parallel":[13,37,60],"mechanism":[14,38,61,80,105],"has":[15,23],"been":[16,24],"rare,":[17],"though":[18],"synthesis":[19],"on":[20],"this":[21],"type":[22,54],"conducted":[25],"quite":[26],"a":[27,32,47,56,69,124],"few.":[28],"Recently,":[29],"we":[30],"proposed":[31],"revolute":[33],"joint-based":[34],"3T1R":[35,58],"having":[39,62],"Schonflies":[40,63],"motions":[41,64],"whose":[42,65],"output":[43],"rotational":[44,66],"motion":[45,67,116,132],"is":[46,68,118,126],"roll":[48],"motion.":[49,71],"This":[50],"work":[51],"proposes":[52],"another":[53],"new":[57],"pitch":[70],"The":[72],"position":[73],"analysis":[74],"and":[75,83,87,114],"kinematic":[76,88,94],"modeling":[77],"the":[79,93,104],"performed,":[82],"its":[84,121,130],"workspace":[85],"size":[86],"characteristic":[89,96],"with":[90],"respect":[91],"to":[92,128],"isotropic":[95],"examined.":[98],"To":[99],"support":[100],"high":[101],"potential":[102],"real":[107],"applications,":[108],"three":[109],"different":[110],"versions":[111],"suggested":[113],"each":[115],"capability":[117],"verified":[119],"through":[120],"simulator.":[122],"Finally,":[123],"prototype":[125],"developed":[127],"verity":[129],"actual":[131],"capability.":[133]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2021,"cited_by_count":2},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2013,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2016-06-24T00:00:00"}
