{"id":"https://openalex.org/W2067398899","doi":"https://doi.org/10.1109/iros.2013.6696389","title":"A 3T2R parallel and partially decoupled kinematic architecture","display_name":"A 3T2R parallel and partially decoupled kinematic architecture","publication_year":2013,"publication_date":"2013-11-01","ids":{"openalex":"https://openalex.org/W2067398899","doi":"https://doi.org/10.1109/iros.2013.6696389","mag":"2067398899"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2013.6696389","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2013.6696389","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://zenodo.org/record/3432674","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5090574648","display_name":"Matteo Malosio","orcid":"https://orcid.org/0000-0002-4961-376X"},"institutions":[{"id":"https://openalex.org/I79940851","display_name":"University of Brescia","ror":"https://ror.org/02q2d2610","country_code":"IT","type":"education","lineage":["https://openalex.org/I79940851"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Matteo Malosio","raw_affiliation_strings":["University of Brescia, Brescia, Italy","Inst. of Ind. Technol. & Autom., Milan, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Brescia, Brescia, Italy","institution_ids":["https://openalex.org/I79940851"]},{"raw_affiliation_string":"Inst. of Ind. Technol. & Autom., Milan, Italy","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001490633","display_name":"S. Negri","orcid":"https://orcid.org/0000-0002-3128-9850"},"institutions":[{"id":"https://openalex.org/I4210155236","display_name":"National Research Council","ror":"https://ror.org/04zaypm56","country_code":"IT","type":"nonprofit","lineage":["https://openalex.org/I4210155236"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Simone Pio Negri","raw_affiliation_strings":["Automation of the Italian National Research Council, Institute of Industrial Technologies, Milan, Italy","Inst. of Ind. Technol. & Autom., Milan, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Automation of the Italian National Research Council, Institute of Industrial Technologies, Milan, Italy","institution_ids":["https://openalex.org/I4210155236"]},{"raw_affiliation_string":"Inst. of Ind. Technol. & Autom., Milan, Italy","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090332923","display_name":"Nicola Pedrocchi","orcid":"https://orcid.org/0000-0002-1610-001X"},"institutions":[{"id":"https://openalex.org/I4210155236","display_name":"National Research Council","ror":"https://ror.org/04zaypm56","country_code":"IT","type":"nonprofit","lineage":["https://openalex.org/I4210155236"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Nicola Pedrocchi","raw_affiliation_strings":["Automation of the Italian National Research Council, Institute of Industrial Technologies, Milan, Italy","Inst. of Ind. Technol. & Autom., Milan, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Automation of the Italian National Research Council, Institute of Industrial Technologies, Milan, Italy","institution_ids":["https://openalex.org/I4210155236"]},{"raw_affiliation_string":"Inst. of Ind. Technol. & Autom., Milan, Italy","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070205869","display_name":"Federico Vicentini","orcid":"https://orcid.org/0000-0002-7791-7090"},"institutions":[{"id":"https://openalex.org/I4210155236","display_name":"National Research Council","ror":"https://ror.org/04zaypm56","country_code":"IT","type":"nonprofit","lineage":["https://openalex.org/I4210155236"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Federico Vicentini","raw_affiliation_strings":["Automation of the Italian National Research Council, Institute of Industrial Technologies, Milan, Italy","Inst. of Ind. Technol. & Autom., Milan, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Automation of the Italian National Research Council, Institute of Industrial Technologies, Milan, Italy","institution_ids":["https://openalex.org/I4210155236"]},{"raw_affiliation_string":"Inst. of Ind. Technol. & Autom., Milan, Italy","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5009851535","display_name":"Lorenzo Molinari Tosatti","orcid":"https://orcid.org/0000-0002-8541-3546"},"institutions":[{"id":"https://openalex.org/I4210155236","display_name":"National Research Council","ror":"https://ror.org/04zaypm56","country_code":"IT","type":"nonprofit","lineage":["https://openalex.org/I4210155236"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Lorenzo Molinari Tosatti","raw_affiliation_strings":["Automation of the Italian National Research Council, Institute of Industrial Technologies, Milan, Italy","Inst. of Ind. Technol. & Autom., Milan, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Automation of the Italian National Research Council, Institute of Industrial Technologies, Milan, Italy","institution_ids":["https://openalex.org/I4210155236"]},{"raw_affiliation_string":"Inst. of Ind. Technol. & Autom., Milan, Italy","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.9363,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.70302742,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"444","last_page":"449"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9990000128746033,"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":0.9990000128746033,"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":0.9980000257492065,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9628999829292297,"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/kinematics","display_name":"Kinematics","score":0.9019521474838257},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.7272494435310364},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6314682364463806},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.5656087398529053},{"id":"https://openalex.org/keywords/kinematic-chain","display_name":"Kinematic chain","score":0.5572797060012817},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4629116654396057},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.45775306224823},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.4235236942768097},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4192942678928375},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3559862971305847},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.28046607971191406},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2619868516921997},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24117490649223328},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23874548077583313},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1476374864578247},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11162608861923218},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.09681913256645203}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.9019521474838257},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.7272494435310364},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6314682364463806},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.5656087398529053},{"id":"https://openalex.org/C62837456","wikidata":"https://www.wikidata.org/wiki/Q678308","display_name":"Kinematic chain","level":3,"score":0.5572797060012817},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4629116654396057},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.45775306224823},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.4235236942768097},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4192942678928375},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3559862971305847},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.28046607971191406},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2619868516921997},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24117490649223328},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23874548077583313},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1476374864578247},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11162608861923218},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.09681913256645203},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2013.6696389","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2013.6696389","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:zenodo.org:3432674","is_oa":true,"landing_page_url":"https://zenodo.org/record/3432674","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"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":"","raw_type":"info:eu-repo/semantics/conferencePaper"}],"best_oa_location":{"id":"pmh:oai:zenodo.org:3432674","is_oa":true,"landing_page_url":"https://zenodo.org/record/3432674","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"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":"","raw_type":"info:eu-repo/semantics/conferencePaper"},"sustainable_development_goals":[{"score":0.6600000262260437,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1829079430","https://openalex.org/W1986280121","https://openalex.org/W2019549627","https://openalex.org/W2055900711","https://openalex.org/W2064775528","https://openalex.org/W2068655755","https://openalex.org/W2096273330","https://openalex.org/W2100201356","https://openalex.org/W2102917884","https://openalex.org/W2105942045","https://openalex.org/W2110794603","https://openalex.org/W2135301891","https://openalex.org/W2137614501","https://openalex.org/W2144682848","https://openalex.org/W2159381569","https://openalex.org/W2164278974","https://openalex.org/W2169965303","https://openalex.org/W2558201662","https://openalex.org/W4230149159","https://openalex.org/W4230981037","https://openalex.org/W4234497146","https://openalex.org/W4249593761","https://openalex.org/W6676526729","https://openalex.org/W6680203701","https://openalex.org/W6680475085"],"related_works":["https://openalex.org/W90437214","https://openalex.org/W3009127572","https://openalex.org/W2810899478","https://openalex.org/W2043736113","https://openalex.org/W1879261740","https://openalex.org/W153208564","https://openalex.org/W2169324687","https://openalex.org/W2159202887","https://openalex.org/W3217056763","https://openalex.org/W2188526576"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,68,82],"parallel":[4,22,46],"and":[5,13,34,64],"partially":[6,55],"decoupled":[7,56],"mechanism":[8],"characterized":[9],"by":[10],"three":[11],"translational":[12],"two":[14],"rotational":[15],"degrees":[16,27],"of":[17,21,28,30,37,45,54,60,81],"freedom.":[18],"A":[19],"set":[20],"kinematic":[23,72],"chains":[24],"actuates":[25],"five":[26],"freedom":[29],"the":[31,78,89],"mobile":[32],"platform":[33],"constrains":[35],"one":[36],"its":[38],"rotations.":[39],"Its":[40],"kinematics":[41],"combines":[42],"advantages":[43],"typical":[44],"architectures,":[47],"as":[48],"high":[49],"dynamics,":[50],"with":[51],"positive":[52],"aspects":[53],"ones,":[57],"in":[58,92],"terms":[59],"mechanical":[61,79],"design,":[62],"control":[63],"motion":[65],"planning,":[66],"through":[67],"relatively":[69],"simple":[70],"direct":[71],"formulation.":[73],"The":[74],"presented":[75],"architecture":[76],"constitutes":[77],"heart":[80],"robotic":[83],"prototype":[84],"designed":[85],"to":[86],"actively":[87],"support":[88],"patient's":[90],"head":[91],"open-skull":[93],"awake":[94],"surgery.":[95]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2015,"cited_by_count":2}],"updated_date":"2026-08-26T07:47:46.906454","created_date":"2016-06-24T00:00:00"}