{"id":"https://openalex.org/W2773699596","doi":"https://doi.org/10.1109/iros.2017.8206433","title":"A survey on precision of redundantly actuated DELTA-type parallel kinematic mechanisms","display_name":"A survey on precision of redundantly actuated DELTA-type parallel kinematic mechanisms","publication_year":2017,"publication_date":"2017-09-01","ids":{"openalex":"https://openalex.org/W2773699596","doi":"https://doi.org/10.1109/iros.2017.8206433","mag":"2773699596"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2017.8206433","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206433","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5057837379","display_name":"Amir Shahidi","orcid":"https://orcid.org/0000-0001-6295-3235"},"institutions":[{"id":"https://openalex.org/I887968799","display_name":"RWTH Aachen University","ror":"https://ror.org/04xfq0f34","country_code":"DE","type":"education","lineage":["https://openalex.org/I887968799"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"S. A. Shahidi","raw_affiliation_strings":["Department of Mechanism Theory and Dynamics of Machines, RWTH Aachen University, Aachen, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Mechanism Theory and Dynamics of Machines, RWTH Aachen University, Aachen, Germany","institution_ids":["https://openalex.org/I887968799"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076041024","display_name":"Michael Lorenz","orcid":"https://orcid.org/0000-0002-7881-8027"},"institutions":[{"id":"https://openalex.org/I887968799","display_name":"RWTH Aachen University","ror":"https://ror.org/04xfq0f34","country_code":"DE","type":"education","lineage":["https://openalex.org/I887968799"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"M. Lorenz","raw_affiliation_strings":["Department of Mechanism Theory and Dynamics of Machines, RWTH Aachen University, Aachen, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Mechanism Theory and Dynamics of Machines, RWTH Aachen University, Aachen, Germany","institution_ids":["https://openalex.org/I887968799"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103689950","display_name":"Sami Charaf Eddine","orcid":null},"institutions":[{"id":"https://openalex.org/I887968799","display_name":"RWTH Aachen University","ror":"https://ror.org/04xfq0f34","country_code":"DE","type":"education","lineage":["https://openalex.org/I887968799"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"S. Charaf Eddine","raw_affiliation_strings":["Department of Mechanism Theory and Dynamics of Machines, RWTH Aachen University, Aachen, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Mechanism Theory and Dynamics of Machines, RWTH Aachen University, Aachen, Germany","institution_ids":["https://openalex.org/I887968799"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018793970","display_name":"Mathias H\u00fcsing","orcid":"https://orcid.org/0000-0002-8949-0215"},"institutions":[{"id":"https://openalex.org/I887968799","display_name":"RWTH Aachen University","ror":"https://ror.org/04xfq0f34","country_code":"DE","type":"education","lineage":["https://openalex.org/I887968799"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"M. Husing","raw_affiliation_strings":["Department of Mechanism Theory and Dynamics of Machines, RWTH Aachen University, Aachen, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Mechanism Theory and Dynamics of Machines, RWTH Aachen University, Aachen, Germany","institution_ids":["https://openalex.org/I887968799"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5054447183","display_name":"Burkhard Corves","orcid":"https://orcid.org/0000-0003-1824-3433"},"institutions":[{"id":"https://openalex.org/I887968799","display_name":"RWTH Aachen University","ror":"https://ror.org/04xfq0f34","country_code":"DE","type":"education","lineage":["https://openalex.org/I887968799"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"B. Corves","raw_affiliation_strings":["Department of Mechanism Theory and Dynamics of Machines, RWTH Aachen University, Aachen, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Mechanism Theory and Dynamics of Machines, RWTH Aachen University, Aachen, Germany","institution_ids":["https://openalex.org/I887968799"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5057837379"],"corresponding_institution_ids":["https://openalex.org/I887968799"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.20417839,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"1","issue":null,"first_page":"5376","last_page":"5381"},"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9987999796867371,"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/T13752","display_name":"Mechanics and Biomechanics Studies","score":0.9926999807357788,"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/redundancy","display_name":"Redundancy (engineering)","score":0.8668416738510132},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.7929503917694092},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7757441997528076},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.6102783679962158},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5735848546028137},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5251386165618896},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5211225152015686},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.4996006488800049},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.4546854496002197},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4500999450683594},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.43643322587013245},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.4134826958179474},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3290282189846039},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.32859066128730774},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2911689877510071},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.1492026448249817},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07922762632369995}],"concepts":[{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.8668416738510132},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.7929503917694092},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7757441997528076},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.6102783679962158},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5735848546028137},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5251386165618896},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5211225152015686},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.4996006488800049},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.4546854496002197},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4500999450683594},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.43643322587013245},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.4134826958179474},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3290282189846039},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.32859066128730774},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2911689877510071},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.1492026448249817},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07922762632369995},{"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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.2017.8206433","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206433","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:publications.rwth-aachen.de:719898","is_oa":false,"landing_page_url":"https://publications.rwth-aachen.de/record/719898","pdf_url":null,"source":{"id":"https://openalex.org/S4306401033","display_name":"RWTH Publications (RWTH Aachen)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I887968799","host_organization_name":"RWTH Aachen University","host_organization_lineage":["https://openalex.org/I887968799"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"[Piscataway, NJ] : IEEE 5376-5381 (2017). doi:10.1109/IROS.2017.8206433","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8799999952316284,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W25751156","https://openalex.org/W1530303151","https://openalex.org/W1554081756","https://openalex.org/W1602074088","https://openalex.org/W1928579829","https://openalex.org/W1961312251","https://openalex.org/W1978718513","https://openalex.org/W1983825209","https://openalex.org/W2004010821","https://openalex.org/W2026129850","https://openalex.org/W2029862605","https://openalex.org/W2032987252","https://openalex.org/W2049921058","https://openalex.org/W2056684945","https://openalex.org/W2076597338","https://openalex.org/W2084973179","https://openalex.org/W2115384033","https://openalex.org/W2142964092","https://openalex.org/W2167357810","https://openalex.org/W2169164876","https://openalex.org/W2283164185","https://openalex.org/W2525059290","https://openalex.org/W2626502334","https://openalex.org/W2727930414"],"related_works":["https://openalex.org/W2393977490","https://openalex.org/W2038930466","https://openalex.org/W1997122515","https://openalex.org/W2366856298","https://openalex.org/W2166323405","https://openalex.org/W2376007266","https://openalex.org/W2067594477","https://openalex.org/W1527306875","https://openalex.org/W2385739135","https://openalex.org/W1981988083"],"abstract_inverted_index":{"Precision":[0],"is":[1,43,57,74,89],"an":[2],"important":[3],"feature":[4],"in":[5,122,129],"modern":[6],"robotics":[7],"and":[8,32,65,71,101,135],"manipulation":[9],"technology.":[10],"Elevation":[11],"of":[12,35,40,48,68,79,85,99,150],"the":[13,30,36,45,60,69,83,86,109,115,120,126],"robot's":[14],"end-effector":[15],"precision":[16],"depends":[17,62],"on":[18,44,63,125],"different":[19,141],"features":[20],"as":[21],"stiffness,":[22],"tolerance":[23],"etc.":[24],"which":[25,112],"should":[26],"be":[27],"considered":[28],"during":[29],"synthesis":[31],"design":[33],"phase":[34],"manipulator.":[37,87],"The":[38],"focus":[39],"this":[41,130],"study":[42],"structural":[46],"stiffness":[47,61,84,107],"parallel":[49],"kinematic":[50],"manipulators":[51,111,136],"(PKM)":[52],"exhibiting":[53],"actuation":[54],"redundancy.":[55],"It":[56,88],"determined":[58],"how":[59,72],"physical":[64],"geometrical":[66],"characteristics":[67],"manipulator":[70],"it":[73],"possible":[75],"to":[76,81,108],"take":[77],"advantage":[78],"redundancy":[80],"enhance":[82],"shown":[90],"that":[91],"redundantly":[92],"actuated":[93],"PKM":[94],"(RA-PKM)":[95],"with":[96,137],"components":[97],"made":[98],"softer":[100],"accordingly":[102],"lighter":[103],"materials":[104],"demonstrate":[105],"comparable":[106],"non-redundant":[110],"consequently":[113],"decrease":[114],"required":[116],"energy":[117],"for":[118,140],"moving":[119],"dead-load":[121],"operation.":[123],"Based":[124],"model":[127],"built":[128],"study,":[131,148],"optimizations":[132],"are":[133,143,154],"conducted":[134],"optimal":[138],"morphologies":[139],"tasks":[142],"introduced.":[144],"As":[145],"a":[146],"case":[147],"RA-PKM":[149],"type":[151],"n-R":[152],"RPaRs":[153],"considered.":[155]},"counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}