{"id":"https://openalex.org/W2002926244","doi":"https://doi.org/10.1109/iros.2012.6385468","title":"A new class of locally decoupled Gough-Stewart platform manipulators","display_name":"A new class of locally decoupled Gough-Stewart platform manipulators","publication_year":2012,"publication_date":"2012-10-01","ids":{"openalex":"https://openalex.org/W2002926244","doi":"https://doi.org/10.1109/iros.2012.6385468","mag":"2002926244"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2012.6385468","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6385468","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 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/A5085395763","display_name":"Anthony A. Allais","orcid":null},"institutions":[{"id":"https://openalex.org/I12834331","display_name":"University of Wyoming","ror":"https://ror.org/01485tq96","country_code":"US","type":"education","lineage":["https://openalex.org/I12834331"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Anthony A. Allais","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Wyoming, Laramie, WY, USA","Department of Electrical and Computer Engineering at the University of Wyoming, Laramie, 82071, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Wyoming, Laramie, WY, USA","institution_ids":["https://openalex.org/I12834331"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering at the University of Wyoming, Laramie, 82071, USA","institution_ids":["https://openalex.org/I12834331"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020843331","display_name":"John E. McInroy","orcid":null},"institutions":[{"id":"https://openalex.org/I12834331","display_name":"University of Wyoming","ror":"https://ror.org/01485tq96","country_code":"US","type":"education","lineage":["https://openalex.org/I12834331"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"John E. McInroy","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Wyoming, Laramie, WY, USA","Department of Electrical and Computer Engineering at the University of Wyoming, Laramie, 82071, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Wyoming, Laramie, WY, USA","institution_ids":["https://openalex.org/I12834331"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering at the University of Wyoming, Laramie, 82071, USA","institution_ids":["https://openalex.org/I12834331"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5110087507","display_name":"John F. O\u2019Brien","orcid":"https://orcid.org/0000-0002-4882-1102"},"institutions":[{"id":"https://openalex.org/I12834331","display_name":"University of Wyoming","ror":"https://ror.org/01485tq96","country_code":"US","type":"education","lineage":["https://openalex.org/I12834331"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"John F. O'Brien","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Wyoming, Laramie, WY, USA","Department of Electrical and Computer Engineering at the University of Wyoming, Laramie, 82071, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Wyoming, Laramie, WY, USA","institution_ids":["https://openalex.org/I12834331"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering at the University of Wyoming, Laramie, 82071, USA","institution_ids":["https://openalex.org/I12834331"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I12834331"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1561","last_page":"1566"},"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/T11701","display_name":"Space Satellite Systems and Control","score":0.9947999715805054,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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":0.9937999844551086,"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/stewart-platform","display_name":"Stewart platform","score":0.7622722387313843},{"id":"https://openalex.org/keywords/class","display_name":"Class (philosophy)","score":0.6858323216438293},{"id":"https://openalex.org/keywords/isotropy","display_name":"Isotropy","score":0.6552220582962036},{"id":"https://openalex.org/keywords/simple","display_name":"Simple (philosophy)","score":0.6121824383735657},{"id":"https://openalex.org/keywords/eigenvalues-and-eigenvectors","display_name":"Eigenvalues and eigenvectors","score":0.5494529008865356},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.5282040238380432},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5211289525032043},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.49105167388916016},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.47418174147605896},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.4448789358139038},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.43854591250419617},{"id":"https://openalex.org/keywords/screw-theory","display_name":"Screw theory","score":0.43784064054489136},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.43589967489242554},{"id":"https://openalex.org/keywords/power","display_name":"Power (physics)","score":0.41812580823898315},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.40229350328445435},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.34750857949256897},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.2883244454860687},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14277085661888123},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08271852135658264},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.07052946090698242}],"concepts":[{"id":"https://openalex.org/C69769044","wikidata":"https://www.wikidata.org/wiki/Q2041113","display_name":"Stewart platform","level":3,"score":0.7622722387313843},{"id":"https://openalex.org/C2777212361","wikidata":"https://www.wikidata.org/wiki/Q5127848","display_name":"Class (philosophy)","level":2,"score":0.6858323216438293},{"id":"https://openalex.org/C184050105","wikidata":"https://www.wikidata.org/wiki/Q273163","display_name":"Isotropy","level":2,"score":0.6552220582962036},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.6121824383735657},{"id":"https://openalex.org/C158693339","wikidata":"https://www.wikidata.org/wiki/Q190524","display_name":"Eigenvalues and eigenvectors","level":2,"score":0.5494529008865356},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.5282040238380432},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5211289525032043},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.49105167388916016},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.47418174147605896},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.4448789358139038},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.43854591250419617},{"id":"https://openalex.org/C18788176","wikidata":"https://www.wikidata.org/wiki/Q7891441","display_name":"Screw theory","level":3,"score":0.43784064054489136},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.43589967489242554},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.41812580823898315},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.40229350328445435},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.34750857949256897},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.2883244454860687},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14277085661888123},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08271852135658264},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.07052946090698242},{"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},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2012.6385468","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6385468","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1564897360","https://openalex.org/W1902714446","https://openalex.org/W1975468089","https://openalex.org/W1979698798","https://openalex.org/W1986689081","https://openalex.org/W2019800455","https://openalex.org/W2070917084","https://openalex.org/W2074162033","https://openalex.org/W2094928806","https://openalex.org/W2098766157","https://openalex.org/W2103660764","https://openalex.org/W2105918267","https://openalex.org/W2111455515","https://openalex.org/W2116823784","https://openalex.org/W2121344123","https://openalex.org/W2126800480","https://openalex.org/W2142553964","https://openalex.org/W2150797032","https://openalex.org/W2155036992","https://openalex.org/W2161608402","https://openalex.org/W6639625530","https://openalex.org/W6645069755","https://openalex.org/W6682238479"],"related_works":["https://openalex.org/W2357010517","https://openalex.org/W2051802930","https://openalex.org/W2392630999","https://openalex.org/W2022764191","https://openalex.org/W2106509686","https://openalex.org/W2758274745","https://openalex.org/W1997122515","https://openalex.org/W1944326388","https://openalex.org/W2393977490","https://openalex.org/W2135529998"],"abstract_inverted_index":{"This":[0],"paper":[1],"analytically":[2],"finds":[3],"a":[4],"new,":[5],"significantly":[6],"more":[7],"general":[8],"class":[9],"of":[10,40,48],"locally":[11],"decoupled":[12,78],"2p":[13],"-":[14],"UPS,":[15],"parallel":[16],"manipulators":[17],"encompassing":[18],"and":[19,79],"expanding":[20],"several":[21],"earlier":[22],"classes.":[23],"Its":[24],"closed":[25],"form":[26],"solution":[27],"leads":[28],"directly":[29],"to":[30,56],"simple":[31],"analytic":[32],"formulas":[33],"for":[34],"the":[35,46,49,51,65,70,73],"system":[36],"eigenvalues":[37],"in":[38,62],"terms":[39],"geometric":[41],"design":[42,75],"parameters.":[43],"To":[44],"illustrate":[45],"power":[47],"theory,":[50],"new":[52,74],"methods":[53],"are":[54],"used":[55],"re-design":[57],"an":[58],"actual":[59],"manipulator":[60],"currently":[61],"use":[63],"on":[64],"International":[66],"Space":[67],"Station.":[68],"Unlike":[69],"existing":[71],"manipulator,":[72],"is":[76],"dynamically":[77],"isotropic.":[80]},"counts_by_year":[{"year":2019,"cited_by_count":1},{"year":2013,"cited_by_count":3}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
