{"id":"https://openalex.org/W2064892025","doi":"https://doi.org/10.1109/iros.2010.5649739","title":"Geometric properties of zero-torsion parallel kinematics machines","display_name":"Geometric properties of zero-torsion parallel kinematics machines","publication_year":2010,"publication_date":"2010-10-01","ids":{"openalex":"https://openalex.org/W2064892025","doi":"https://doi.org/10.1109/iros.2010.5649739","mag":"2064892025"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2010.5649739","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2010.5649739","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 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/A5048597700","display_name":"Yuanqing Wu","orcid":"https://orcid.org/0000-0002-5846-9405"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]},{"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":["CN","HK"],"is_corresponding":true,"raw_author_name":"Yuanqing Wu","raw_affiliation_strings":["ECE, Hong Kong University of Science and Technology, Hong Kong, China","Shanghai Jiaotong University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"ECE, Hong Kong University of Science and Technology, Hong Kong, China","institution_ids":["https://openalex.org/I200769079"]},{"raw_affiliation_string":"Shanghai Jiaotong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","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":["ECE, Hong Kong University of Science and Technology, Hong Kong, China"],"affiliations":[{"raw_affiliation_string":"ECE, Hong Kong University of Science and Technology, Hong Kong, China","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068706278","display_name":"Jinbo Shi","orcid":null},"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":"Jinbo Shi","raw_affiliation_strings":["ECE, Hong Kong University of Science and Technology, Hong Kong, China"],"affiliations":[{"raw_affiliation_string":"ECE, Hong Kong University of Science and Technology, Hong Kong, China","institution_ids":["https://openalex.org/I200769079"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5048597700"],"corresponding_institution_ids":["https://openalex.org/I183067930","https://openalex.org/I200769079"],"apc_list":null,"apc_paid":null,"fwci":2.8904,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.91514157,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"2307","last_page":"2312"},"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":0.9914000034332275,"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":0.9914000034332275,"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/torsion","display_name":"Torsion (gastropod)","score":0.8515748381614685},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5792521238327026},{"id":"https://openalex.org/keywords/zero","display_name":"Zero (linguistics)","score":0.46252211928367615},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3780609965324402},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.35412874817848206},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.35359081625938416},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.32666170597076416},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.23460063338279724}],"concepts":[{"id":"https://openalex.org/C77461463","wikidata":"https://www.wikidata.org/wiki/Q7827201","display_name":"Torsion (gastropod)","level":2,"score":0.8515748381614685},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5792521238327026},{"id":"https://openalex.org/C2780813799","wikidata":"https://www.wikidata.org/wiki/Q3274237","display_name":"Zero (linguistics)","level":2,"score":0.46252211928367615},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3780609965324402},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.35412874817848206},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.35359081625938416},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.32666170597076416},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.23460063338279724},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"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/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2010.5649739","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2010.5649739","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:repository.hkust.edu.hk:1783.1-35353","is_oa":false,"landing_page_url":"http://repository.hkust.edu.hk/ir/Record/1783.1-35353","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":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W40111655","https://openalex.org/W979511122","https://openalex.org/W1532788026","https://openalex.org/W1564897360","https://openalex.org/W1566463023","https://openalex.org/W1597009130","https://openalex.org/W1963976266","https://openalex.org/W1964185413","https://openalex.org/W1964289403","https://openalex.org/W1981338117","https://openalex.org/W2024283190","https://openalex.org/W2026892575","https://openalex.org/W2040479465","https://openalex.org/W2058220086","https://openalex.org/W2065419123","https://openalex.org/W2080709918","https://openalex.org/W2086070869","https://openalex.org/W2104748200","https://openalex.org/W2105464933","https://openalex.org/W2124137821","https://openalex.org/W2132506771","https://openalex.org/W2133037307","https://openalex.org/W2143641769","https://openalex.org/W2150872297","https://openalex.org/W2239258278","https://openalex.org/W4299312102","https://openalex.org/W6601624009","https://openalex.org/W6670763741","https://openalex.org/W6689642883"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W1979597421","https://openalex.org/W2007980826","https://openalex.org/W2061531152","https://openalex.org/W3002753104","https://openalex.org/W2077600819","https://openalex.org/W2142036596","https://openalex.org/W2072657027","https://openalex.org/W2600246793","https://openalex.org/W2103929723"],"abstract_inverted_index":{"The":[0,91],"advantages":[1],"of":[2,7,22,34,45,55,70,74,88,108],"tilt-and-torsion":[3,23],"angles":[4,24],"in":[5,32,111],"analysis":[6],"zero-torsion":[8,36,49,61,89,98,109],"parallel":[9],"kinematics":[10],"machines":[11],"(PKM)":[12],"have":[13],"been":[14],"reported":[15],"by":[16],"several":[17,95],"literatures.":[18],"However,":[19],"geometric":[20,43],"properties":[21,44],"are":[25,100],"not":[26],"completely":[27],"understood":[28],"and":[29],"fully":[30],"utilized":[31],"synthesis":[33,92,107],"novel":[35],"PKMs.":[37,90],"In":[38],"this":[39],"paper,":[40],"we":[41,84],"study":[42],"the":[46,71,75,81],"so":[47],"called":[48],"motion":[50,62],"types":[51,63],"via":[52],"differential":[53],"geometry":[54],"Lie":[56],"groups.":[57],"We":[58,103],"show":[59],"that":[60],"admit":[64],"simple":[65],"representations":[66],"under":[67],"canonical":[68],"coordinates":[69],"first":[72],"kind":[73],"special":[76],"Euclidean":[77],"group":[78],"SE(3).":[79],"Using":[80],"proposed":[82],"representation,":[83],"give":[85],"a":[86,112],"classification":[87],"condition":[93],"for":[94],"well":[96],"known":[97],"PKMs":[99,110],"correctly":[101],"identified.":[102],"will":[104],"conduct":[105],"type":[106],"separate":[113],"paper.":[114]},"counts_by_year":[{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":5},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":1},{"year":2013,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
