{"id":"https://openalex.org/W2128915060","doi":"https://doi.org/10.1109/ramech.2008.4690889","title":"A novel spherical joint designed for metamorphic mechanism","display_name":"A novel spherical joint designed for metamorphic mechanism","publication_year":2008,"publication_date":"2008-09-01","ids":{"openalex":"https://openalex.org/W2128915060","doi":"https://doi.org/10.1109/ramech.2008.4690889","mag":"2128915060"},"language":"en","primary_location":{"id":"doi:10.1109/ramech.2008.4690889","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ramech.2008.4690889","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE Conference on Robotics, Automation and Mechatronics","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/A5026365889","display_name":"Weihai Chen","orcid":"https://orcid.org/0000-0001-7912-4505"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Weihai Chen","raw_affiliation_strings":["School of Automation Science and Electrical Engineering, Beijing Aeronautics and Astronautics University, Beijing, China","Beijing University of Aeronautics and Astronautics)"],"affiliations":[{"raw_affiliation_string":"School of Automation Science and Electrical Engineering, Beijing Aeronautics and Astronautics University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"Beijing University of Aeronautics and Astronautics)","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100616599","display_name":"Jianbin Zhang","orcid":"https://orcid.org/0000-0003-4318-7330"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianbin Zhang","raw_affiliation_strings":["School of Mechanical Engineering, Beijing Aeronautics and Astronautics University, Beijing, China","Beijing University of Aeronautics and Astronautics)"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Beijing Aeronautics and Astronautics University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"Beijing University of Aeronautics and Astronautics)","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103730953","display_name":"Junjie Quan","orcid":null},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junjie Quan","raw_affiliation_strings":["School of Mechanical Engineering, Beijing Aeronautics and Astronautics University, Beijing, China","Beijing University of Aeronautics and Astronautics)"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Beijing Aeronautics and Astronautics University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"Beijing University of Aeronautics and Astronautics)","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5106417841","display_name":"Tao Lv","orcid":"https://orcid.org/0000-0002-1440-5637"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tao Lv","raw_affiliation_strings":["School of Mechanical Engineering, Beijing Aeronautics and Astronautics University, Beijing, China","Beijing University of Aeronautics and Astronautics)"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Beijing Aeronautics and Astronautics University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"Beijing University of Aeronautics and Astronautics)","institution_ids":["https://openalex.org/I82880672"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5026365889"],"corresponding_institution_ids":["https://openalex.org/I82880672"],"apc_list":null,"apc_paid":null,"fwci":0.8225,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.79693309,"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":"976","last_page":"981"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9973000288009644,"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/T11525","display_name":"Piezoelectric Actuators and Control","score":0.9943000078201294,"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/parallelogram","display_name":"Parallelogram","score":0.7816610336303711},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.6647607088088989},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.6243330836296082},{"id":"https://openalex.org/keywords/offset","display_name":"Offset (computer science)","score":0.5095627307891846},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5060791373252869},{"id":"https://openalex.org/keywords/universal-joint","display_name":"Universal joint","score":0.4896109700202942},{"id":"https://openalex.org/keywords/truss","display_name":"Truss","score":0.47389402985572815},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.44362303614616394},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.32757440209388733},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2287616729736328},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.19100475311279297},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.16651755571365356},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1556013822555542},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13975152373313904},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.08357828855514526}],"concepts":[{"id":"https://openalex.org/C53118041","wikidata":"https://www.wikidata.org/wiki/Q45867","display_name":"Parallelogram","level":3,"score":0.7816610336303711},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.6647607088088989},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.6243330836296082},{"id":"https://openalex.org/C175291020","wikidata":"https://www.wikidata.org/wiki/Q1156822","display_name":"Offset (computer science)","level":2,"score":0.5095627307891846},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5060791373252869},{"id":"https://openalex.org/C63316402","wikidata":"https://www.wikidata.org/wiki/Q862003","display_name":"Universal joint","level":2,"score":0.4896109700202942},{"id":"https://openalex.org/C173534245","wikidata":"https://www.wikidata.org/wiki/Q1328068","display_name":"Truss","level":2,"score":0.47389402985572815},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.44362303614616394},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.32757440209388733},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2287616729736328},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.19100475311279297},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.16651755571365356},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1556013822555542},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13975152373313904},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.08357828855514526},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ramech.2008.4690889","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ramech.2008.4690889","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE Conference on Robotics, Automation and Mechatronics","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.6899999976158142,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W579542100","https://openalex.org/W2007648508","https://openalex.org/W2011463320","https://openalex.org/W2011704563","https://openalex.org/W2015654790","https://openalex.org/W2023451506","https://openalex.org/W2147504472","https://openalex.org/W2785476265","https://openalex.org/W3150194626","https://openalex.org/W3152073086","https://openalex.org/W6747308186"],"related_works":["https://openalex.org/W2026896861","https://openalex.org/W2348752162","https://openalex.org/W2041160778","https://openalex.org/W2044326682","https://openalex.org/W3120257058","https://openalex.org/W4381742131","https://openalex.org/W4362654578","https://openalex.org/W2802587944","https://openalex.org/W2527709133","https://openalex.org/W4285288450"],"abstract_inverted_index":{"A":[0],"novel":[1,80],"design":[2,18,40,63],"of":[3,16,37,86,108,116],"passive":[4],"spherical":[5,28,61,66,89],"metamorphic":[6,90,110],"joint":[7,39,62,67],"is":[8,41,93],"proposed":[9],"in":[10],"this":[11,17,79],"paper,":[12],"the":[13,38,42,55,59,76,99,105,109,114,117],"special":[14,87],"mechanism":[15,45],"allows":[19],"multi":[20],"links":[21,72],"to":[22,26,74,97,103,113],"be":[23],"connected":[24],"together":[25],"do":[27,75,98],"motion":[29],"about":[30],"a":[31,47,65,84],"rotation":[32],"center.":[33],"The":[34],"main":[35],"contribution":[36],"offset":[43],"parallelogram":[44],"and":[46,102,127],"couple":[48],"door":[49],"joints,":[50],"which":[51],"can":[52,68],"overcomes":[53],"efficiently":[54],"inherent":[56],"defect":[57],"from":[58],"conventional":[60],"where":[64],"only":[69],"connect":[70],"two":[71],"simultaneously":[73],"motion.":[77],"With":[78],"joint,":[81,118],"we":[82],"construct":[83],"kind":[85],"six-bar":[88],"mechanism.":[91,111],"It":[92],"also":[94],"explained":[95],"how":[96],"configuration":[100],"analysis,":[101],"find":[104],"adjacency":[106],"matrix":[107],"According":[112],"characteristic":[115],"some":[119],"typical":[120],"applications":[121],"have":[122],"been":[123],"illustrated":[124],"through":[125],"parallel":[126],"variable":[128],"geometry":[129],"truss":[130],"manipulators":[131]},"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}