{"id":"https://openalex.org/W1964249669","doi":"https://doi.org/10.1109/robio.2012.6491323","title":"Kinematics analysis of 2-PRU-PRRU parallel mechanism","display_name":"Kinematics analysis of 2-PRU-PRRU parallel mechanism","publication_year":2012,"publication_date":"2012-12-01","ids":{"openalex":"https://openalex.org/W1964249669","doi":"https://doi.org/10.1109/robio.2012.6491323","mag":"1964249669"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2012.6491323","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2012.6491323","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5103114865","display_name":"Qiaohong Chen","orcid":"https://orcid.org/0009-0009-7334-6284"},"institutions":[{"id":"https://openalex.org/I1328775524","display_name":"Zhejiang Sci-Tech University","ror":"https://ror.org/03893we55","country_code":"CN","type":"education","lineage":["https://openalex.org/I1328775524"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qiaohong Chen","raw_affiliation_strings":["Zhejiang Sci-Tech University, Hangzhou, China","Zhejiang Sci-Tech University, HangZhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhejiang Sci-Tech University, Hangzhou, China","institution_ids":["https://openalex.org/I1328775524"]},{"raw_affiliation_string":"Zhejiang Sci-Tech University, HangZhou, China","institution_ids":["https://openalex.org/I1328775524"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074411900","display_name":"Xufeng Yu","orcid":"https://orcid.org/0009-0006-1234-1154"},"institutions":[{"id":"https://openalex.org/I1328775524","display_name":"Zhejiang Sci-Tech University","ror":"https://ror.org/03893we55","country_code":"CN","type":"education","lineage":["https://openalex.org/I1328775524"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xufeng Yu","raw_affiliation_strings":["Zhejiang Sci-Tech University, Hangzhou, China","Zhejiang Sci-Tech University, HangZhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhejiang Sci-Tech University, Hangzhou, China","institution_ids":["https://openalex.org/I1328775524"]},{"raw_affiliation_string":"Zhejiang Sci-Tech University, HangZhou, China","institution_ids":["https://openalex.org/I1328775524"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5062103852","display_name":"Qinchuan Li","orcid":"https://orcid.org/0000-0001-6854-6411"},"institutions":[{"id":"https://openalex.org/I1328775524","display_name":"Zhejiang Sci-Tech University","ror":"https://ror.org/03893we55","country_code":"CN","type":"education","lineage":["https://openalex.org/I1328775524"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qinchuan Li","raw_affiliation_strings":["Machinery and Automation Department, Zhejiang Sci-Tech University and mainly engaged in the mechanism theory of parallel robots and research on application technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Machinery and Automation Department, Zhejiang Sci-Tech University and mainly engaged in the mechanism theory of parallel robots and research on application technology","institution_ids":["https://openalex.org/I1328775524"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I1328775524"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2363","last_page":"2368"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998000264167786,"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":0.9998000264167786,"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/T11749","display_name":"Iterative Learning Control Systems","score":0.994700014591217,"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":0.9926000237464905,"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/workspace","display_name":"Workspace","score":0.813080906867981},{"id":"https://openalex.org/keywords/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.7669014930725098},{"id":"https://openalex.org/keywords/gravitational-singularity","display_name":"Gravitational singularity","score":0.7060130834579468},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6784780025482178},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.6749275922775269},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.5457713603973389},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5065129995346069},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.45457029342651367},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4426920413970947},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.43561241030693054},{"id":"https://openalex.org/keywords/boundary","display_name":"Boundary (topology)","score":0.4346330761909485},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4130038022994995},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.41054069995880127},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.404532253742218},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3038936257362366},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.29470258951187134},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.28784796595573425},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.2683757543563843},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2571920156478882},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.18160495162010193},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.17740067839622498},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.11629879474639893},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1128314733505249},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.06888201832771301}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.813080906867981},{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.7669014930725098},{"id":"https://openalex.org/C12843","wikidata":"https://www.wikidata.org/wiki/Q201721","display_name":"Gravitational singularity","level":2,"score":0.7060130834579468},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6784780025482178},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.6749275922775269},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.5457713603973389},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5065129995346069},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.45457029342651367},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4426920413970947},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.43561241030693054},{"id":"https://openalex.org/C62354387","wikidata":"https://www.wikidata.org/wiki/Q875399","display_name":"Boundary (topology)","level":2,"score":0.4346330761909485},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4130038022994995},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.41054069995880127},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.404532253742218},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3038936257362366},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.29470258951187134},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.28784796595573425},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.2683757543563843},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2571920156478882},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.18160495162010193},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.17740067839622498},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.11629879474639893},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1128314733505249},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.06888201832771301},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2012.6491323","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2012.6491323","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W1963551751","https://openalex.org/W1999230774","https://openalex.org/W2050533484","https://openalex.org/W2062195789","https://openalex.org/W2076005773","https://openalex.org/W2086430293","https://openalex.org/W2115623360","https://openalex.org/W2197526461","https://openalex.org/W4231599838","https://openalex.org/W4239768574"],"related_works":["https://openalex.org/W1679399962","https://openalex.org/W2353085251","https://openalex.org/W2362652060","https://openalex.org/W2357403317","https://openalex.org/W2066019639","https://openalex.org/W2394251694","https://openalex.org/W1901106430","https://openalex.org/W2132859693","https://openalex.org/W2537091977","https://openalex.org/W2004793478"],"abstract_inverted_index":{"Analyses":[0],"of":[1,7,29,38,57,69,103],"the":[2,36,39,53,58,65,82,101],"inverse":[3],"and":[4,18,35,46,67,80,90,112],"forward":[5],"positions":[6],"a":[8,70,77],"3-DOF":[9,83],"parallel":[10,113],"mechanism":[11],"(PM)":[12],"along":[13],"with":[14,86],"two":[15,87],"rotational":[16,88],"DOFs":[17,89],"one":[19,91],"translational":[20,92],"DOF":[21],"are":[22,49],"presented":[23],"in":[24,100],"this":[25,30],"paper.":[26],"The":[27,55,73,94],"module":[28],"2-PRU-PRRU":[31,40,59,74,95],"PM":[32,41,60,75,84,96],"is":[33,42,61],"created,":[34],"Jacobian":[37],"derived.":[43],"Boundary,":[44],"local,":[45],"combined":[47],"singularities":[48,66],"identified":[50],"based":[51],"on":[52],"Jacobian.":[54],"workspace":[56],"discussed":[62],"according":[63],"to":[64],"condition":[68],"U-joint":[71],"interference.":[72],"has":[76],"simple":[78],"structure":[79],"supplements":[81],"family":[85],"DOF.":[93],"can":[97],"be":[98],"applied":[99],"fields":[102],"industrial":[104],"assembly":[105],"robots,":[106],"motion":[107],"simulators,":[108],"coordinate":[109],"measuring":[110],"machines,":[111],"machine":[114],"tools":[115],"etc.":[116]},"counts_by_year":[{"year":2023,"cited_by_count":2},{"year":2017,"cited_by_count":1},{"year":2014,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
