{"id":"https://openalex.org/W2146347941","doi":"https://doi.org/10.1109/robio.2009.4913217","title":"Study on a novel 6-DOF combinational parallel manipulator","display_name":"Study on a novel 6-DOF combinational parallel manipulator","publication_year":2009,"publication_date":"2009-02-01","ids":{"openalex":"https://openalex.org/W2146347941","doi":"https://doi.org/10.1109/robio.2009.4913217","mag":"2146347941"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2009.4913217","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2009.4913217","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE International Conference on Robotics and Biomimetics","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/A5015389773","display_name":"Wei Zhao","orcid":"https://orcid.org/0000-0003-0309-325X"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Wei Zhao","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Shenzhen, China","[Shenzhen Graduate School, Harbin Institute of Technology, 518055, China]"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"[Shenzhen Graduate School, Harbin Institute of Technology, 518055, China]","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100451269","display_name":"Bing Li","orcid":"https://orcid.org/0000-0002-5055-8921"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bing Li","raw_affiliation_strings":["Harbin Institute of Technology, Harbin, Heilongjiang, CN","[Shenzhen Graduate School, Harbin Institute of Technology, 518055, China]"],"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology, Harbin, Heilongjiang, CN","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"[Shenzhen Graduate School, Harbin Institute of Technology, 518055, China]","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100648585","display_name":"Hongjian Yu","orcid":"https://orcid.org/0000-0002-1953-3013"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongjian Yu","raw_affiliation_strings":["Harbin Institute of Technology, Harbin, Heilongjiang, CN","[Shenzhen Graduate School, Harbin Institute of Technology, 518055, China]"],"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology, Harbin, Heilongjiang, CN","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"[Shenzhen Graduate School, Harbin Institute of Technology, 518055, China]","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5085156137","display_name":"Ying Hu","orcid":"https://orcid.org/0000-0002-9818-587X"},"institutions":[{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ying Hu","raw_affiliation_strings":["Cognitive Technologies Laboratory, Shenzhen Institute of Advanced Technology, Chinese Academy and Sciences, Shenzhen, China","Cognitive Technologies Lab, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, 518067 China"],"affiliations":[{"raw_affiliation_string":"Cognitive Technologies Laboratory, Shenzhen Institute of Advanced Technology, Chinese Academy and Sciences, Shenzhen, China","institution_ids":["https://openalex.org/I4210145761"]},{"raw_affiliation_string":"Cognitive Technologies Lab, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, 518067 China","institution_ids":["https://openalex.org/I19820366"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5015389773"],"corresponding_institution_ids":["https://openalex.org/I204983213"],"apc_list":null,"apc_paid":null,"fwci":0.7654,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.7865706,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1469","last_page":"1473"},"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":0.9955999851226807,"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/T11301","display_name":"Advanced Surface Polishing Techniques","score":0.9941999912261963,"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/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.8912678956985474},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.8704842329025269},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.814069390296936},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7566338777542114},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6425067186355591},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6148940920829773},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5941038131713867},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.5234498381614685},{"id":"https://openalex.org/keywords/basis","display_name":"Basis (linear algebra)","score":0.49286603927612305},{"id":"https://openalex.org/keywords/serial-manipulator","display_name":"Serial manipulator","score":0.45263680815696716},{"id":"https://openalex.org/keywords/stewart-platform","display_name":"Stewart platform","score":0.4413066506385803},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.4137188792228699},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.4137139916419983},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.37143674492836},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.22777214646339417},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.21829354763031006},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19876629114151},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1854328215122223},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.17920303344726562},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.09171655774116516}],"concepts":[{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.8912678956985474},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.8704842329025269},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.814069390296936},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7566338777542114},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6425067186355591},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6148940920829773},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5941038131713867},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.5234498381614685},{"id":"https://openalex.org/C12426560","wikidata":"https://www.wikidata.org/wiki/Q189569","display_name":"Basis (linear algebra)","level":2,"score":0.49286603927612305},{"id":"https://openalex.org/C120910303","wikidata":"https://www.wikidata.org/wiki/Q7454692","display_name":"Serial manipulator","level":4,"score":0.45263680815696716},{"id":"https://openalex.org/C69769044","wikidata":"https://www.wikidata.org/wiki/Q2041113","display_name":"Stewart platform","level":3,"score":0.4413066506385803},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.4137188792228699},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.4137139916419983},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.37143674492836},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.22777214646339417},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.21829354763031006},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19876629114151},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1854328215122223},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.17920303344726562},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.09171655774116516},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","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":1,"locations":[{"id":"doi:10.1109/robio.2009.4913217","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2009.4913217","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE International Conference on Robotics and Biomimetics","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.8100000023841858,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W1256870269","https://openalex.org/W1555993017","https://openalex.org/W1986875903","https://openalex.org/W1992601993","https://openalex.org/W2014374061","https://openalex.org/W2036518460","https://openalex.org/W2072480832","https://openalex.org/W2077129956","https://openalex.org/W2129264762","https://openalex.org/W2137469233","https://openalex.org/W4231599838"],"related_works":["https://openalex.org/W2353085251","https://openalex.org/W2077539837","https://openalex.org/W2349410961","https://openalex.org/W1981573341","https://openalex.org/W2357010517","https://openalex.org/W178338481","https://openalex.org/W4323924603","https://openalex.org/W2349561638","https://openalex.org/W2040448613","https://openalex.org/W2185220635"],"abstract_inverted_index":{"A":[0],"novel":[1,95],"6-DOF":[2,83],"parallel":[3,84],"manipulator":[4,22],"composed":[5],"of":[6,17,20,56,93],"two":[7,74],"limited-DOF":[8],"manipulators":[9],"is":[10,23,30,35,43,59],"proposed":[11],"in":[12],"this":[13,21],"paper,":[14],"the":[15,26,46,50,54,57,69,73,81,91,94],"degree":[16],"freedom":[18],"(DOF)":[19],"analyzed":[24],"and":[25],"position":[27],"kinematic":[28],"modeling":[29],"established.":[31],"The":[32,41,86],"Jacobian":[33],"matrix":[34],"derived":[36],"by":[37,49],"vector":[38],"loops":[39],"equations.":[40],"workspace":[42],"determined":[44],"considering":[45],"interference":[47],"check":[48],"numerical":[51],"method.":[52],"Furthermore,":[53],"performance":[55],"mechanism":[58],"evaluated":[60],"according":[61],"to":[62,67],"dexterity":[63],"criteria.":[64],"In":[65],"order":[66],"satisfy":[68],"different":[70],"configuration":[71],"requirements,":[72],"reconfigurable":[75],"structures":[76],"are":[77],"presented":[78,82],"based":[79],"on":[80],"mechanism.":[85],"work":[87],"provides":[88],"basis":[89],"for":[90],"development":[92],"robotic":[96],"manipulator.":[97]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
