{"id":"https://openalex.org/W2022764191","doi":"https://doi.org/10.1109/robio.2011.6181385","title":"Singularity research for 6/6-PSS parallel manipulator based on the screw theory","display_name":"Singularity research for 6/6-PSS parallel manipulator based on the screw theory","publication_year":2011,"publication_date":"2011-12-01","ids":{"openalex":"https://openalex.org/W2022764191","doi":"https://doi.org/10.1109/robio.2011.6181385","mag":"2022764191"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2011.6181385","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2011.6181385","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 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/A5101135207","display_name":"Zhijiang Xie","orcid":null},"institutions":[{"id":"https://openalex.org/I158842170","display_name":"Chongqing University","ror":"https://ror.org/023rhb549","country_code":"CN","type":"education","lineage":["https://openalex.org/I158842170"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zhijiang Xie","raw_affiliation_strings":["College of Mechanical Engineering, Chongqing University, Chongqing, China","College of Mechanical Engineering Chongqing University, Room 7328-3, College of Mechanical Engineering Chongqing University, Chongqing, CO 400030 China"],"affiliations":[{"raw_affiliation_string":"College of Mechanical Engineering, Chongqing University, Chongqing, China","institution_ids":["https://openalex.org/I158842170"]},{"raw_affiliation_string":"College of Mechanical Engineering Chongqing University, Room 7328-3, College of Mechanical Engineering Chongqing University, Chongqing, CO 400030 China","institution_ids":["https://openalex.org/I158842170"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026407712","display_name":"Zezheng Wang","orcid":"https://orcid.org/0000-0002-4065-0820"},"institutions":[{"id":"https://openalex.org/I158842170","display_name":"Chongqing University","ror":"https://ror.org/023rhb549","country_code":"CN","type":"education","lineage":["https://openalex.org/I158842170"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zezheng Wang","raw_affiliation_strings":["College of Mechanical Engineering, Chongqing University, Chongqing, China","College of Mechanical Engineering Chongqing University, Room 7328-3, College of Mechanical Engineering Chongqing University, Chongqing, CO 400030 China"],"affiliations":[{"raw_affiliation_string":"College of Mechanical Engineering, Chongqing University, Chongqing, China","institution_ids":["https://openalex.org/I158842170"]},{"raw_affiliation_string":"College of Mechanical Engineering Chongqing University, Room 7328-3, College of Mechanical Engineering Chongqing University, Chongqing, CO 400030 China","institution_ids":["https://openalex.org/I158842170"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5110106688","display_name":"Daiping Song","orcid":null},"institutions":[{"id":"https://openalex.org/I158842170","display_name":"Chongqing University","ror":"https://ror.org/023rhb549","country_code":"CN","type":"education","lineage":["https://openalex.org/I158842170"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Daiping Song","raw_affiliation_strings":["Faculty of the College of Mechanical Engineering, Chongqing University, Chongqing, China","College of Mechanical Engineering Chongqing University, Room 7328-3, College of Mechanical Engineering Chongqing University, Chongqing, CO 400030 China"],"affiliations":[{"raw_affiliation_string":"Faculty of the College of Mechanical Engineering, Chongqing University, Chongqing, China","institution_ids":["https://openalex.org/I158842170"]},{"raw_affiliation_string":"College of Mechanical Engineering Chongqing University, Room 7328-3, College of Mechanical Engineering Chongqing University, Chongqing, CO 400030 China","institution_ids":["https://openalex.org/I158842170"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5101135207"],"corresponding_institution_ids":["https://openalex.org/I158842170"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.08404361,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"1","issue":null,"first_page":"801","last_page":"805"},"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/T11301","display_name":"Advanced Surface Polishing Techniques","score":0.9947999715805054,"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/T11749","display_name":"Iterative Learning Control Systems","score":0.9922000169754028,"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/parallel-manipulator","display_name":"Parallel manipulator","score":0.9252391457557678},{"id":"https://openalex.org/keywords/singularity","display_name":"Singularity","score":0.8958395719528198},{"id":"https://openalex.org/keywords/screw-theory","display_name":"Screw theory","score":0.8440402746200562},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6547735929489136},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6315519213676453},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5444376468658447},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.5281681418418884},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4533989429473877},{"id":"https://openalex.org/keywords/singularity-theory","display_name":"Singularity theory","score":0.42026615142822266},{"id":"https://openalex.org/keywords/base","display_name":"Base (topology)","score":0.4150826930999756},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3313162326812744},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2976056933403015},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.19884014129638672},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.18452271819114685},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1832924783229828},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.10808685421943665},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07218223810195923},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.06776556372642517}],"concepts":[{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.9252391457557678},{"id":"https://openalex.org/C16171025","wikidata":"https://www.wikidata.org/wiki/Q863349","display_name":"Singularity","level":2,"score":0.8958395719528198},{"id":"https://openalex.org/C18788176","wikidata":"https://www.wikidata.org/wiki/Q7891441","display_name":"Screw theory","level":3,"score":0.8440402746200562},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6547735929489136},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6315519213676453},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5444376468658447},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.5281681418418884},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4533989429473877},{"id":"https://openalex.org/C207769094","wikidata":"https://www.wikidata.org/wiki/Q4245771","display_name":"Singularity theory","level":3,"score":0.42026615142822266},{"id":"https://openalex.org/C42058472","wikidata":"https://www.wikidata.org/wiki/Q810214","display_name":"Base (topology)","level":2,"score":0.4150826930999756},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3313162326812744},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2976056933403015},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.19884014129638672},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.18452271819114685},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1832924783229828},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.10808685421943665},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07218223810195923},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.06776556372642517},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2011.6181385","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2011.6181385","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Biomimetics","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6399999856948853,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321550","display_name":"Chongqing Science and Technology Commission","ror":"https://ror.org/05w9erc61"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1555017108","https://openalex.org/W1555456236","https://openalex.org/W1586862759","https://openalex.org/W2039446760","https://openalex.org/W2042810765","https://openalex.org/W2051802930","https://openalex.org/W2064071544","https://openalex.org/W2081845038","https://openalex.org/W2084430545","https://openalex.org/W2110647104","https://openalex.org/W2124860692","https://openalex.org/W2146475250","https://openalex.org/W4231825141","https://openalex.org/W6663425261"],"related_works":["https://openalex.org/W2009316821","https://openalex.org/W2063152211","https://openalex.org/W2350492374","https://openalex.org/W2212331039","https://openalex.org/W1575610114","https://openalex.org/W2085112750","https://openalex.org/W2022764191","https://openalex.org/W2162859138","https://openalex.org/W2384323131","https://openalex.org/W2019101561"],"abstract_inverted_index":{"A":[0],"new":[1],"parallel":[2,40,93,101],"robot":[3],"of":[4,19,28,36,48,54,69,89,92,99],"high":[5],"structure":[6],"stiffness":[7],"and":[8,51,86],"speed":[9],"response":[10],"is":[11],"designed":[12],"to":[13,25],"realize":[14],"six-degree-of-freedom":[15],"(6-DOF)":[16],"in":[17],"space":[18],"an":[20],"experiment":[21],"equipment.":[22],"In":[23,95],"order":[24],"avoid":[26],"singularity":[27,37,67],"the":[29,34,39,43,46,52,59,66,70,77,96,100],"robot,":[30],"this":[31,90],"article":[32],"deduces":[33],"condition":[35],"for":[38,83],"manipulator":[41],"from":[42],"relationship":[44],"between":[45],"input":[47],"each":[49],"chain":[50],"output":[53],"moving":[55],"platform":[56],"base":[57],"on":[58],"screw":[60],"theory.":[61],"And":[62,76],"then":[63],"it":[64],"shows":[65],"locus":[68],"three-dimensional":[71],"description":[72],"by":[73],"computer":[74],"simulation.":[75],"result":[78],"provides":[79],"a":[80],"theoretical":[81],"basis":[82],"trajectory":[84],"planning":[85],"control":[87],"strategy":[88],"kind":[91],"manipulator.":[94],"actual":[97],"use":[98],"manipulator,":[102],"these":[103],"singular":[104],"points":[105],"must":[106],"be":[107],"avoided,":[108],"which":[109],"can":[110],"guarantee":[111],"its":[112],"stable":[113],"operation.":[114]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}