{"id":"https://openalex.org/W2291008499","doi":"https://doi.org/10.1109/robio.2015.7419105","title":"Kinematic analysis of pipe robot in elbow based on virtual prototype technology","display_name":"Kinematic analysis of pipe robot in elbow based on virtual prototype technology","publication_year":2015,"publication_date":"2015-12-01","ids":{"openalex":"https://openalex.org/W2291008499","doi":"https://doi.org/10.1109/robio.2015.7419105","mag":"2291008499"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2015.7419105","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2015.7419105","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 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/A5024765386","display_name":"Jun Chen","orcid":"https://orcid.org/0000-0002-4494-4850"},"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":"Jun Chen","raw_affiliation_strings":["Department of Mechanical Engineering, Harbin Institute of Technology at Weihai, Weihai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Harbin Institute of Technology at Weihai, Weihai, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045899185","display_name":"Xiuchao Cao","orcid":null},"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":"Xiuchao Cao","raw_affiliation_strings":["Department of Mechanical Engineering, Harbin Institute of Technology at Weihai, Weihai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Harbin Institute of Technology at Weihai, Weihai, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100617483","display_name":"Zongquan Deng","orcid":"https://orcid.org/0000-0003-2432-8329"},"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":"Zongquan Deng","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I204983213"],"apc_list":null,"apc_paid":null,"fwci":1.7976,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.84816202,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"2229","last_page":"2234"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9984999895095825,"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"}},"topics":[{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9984999895095825,"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/T13114","display_name":"Image Processing Techniques and Applications","score":0.984000027179718,"subfield":{"id":"https://openalex.org/subfields/2214","display_name":"Media Technology"},"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9591000080108643,"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/kinematics","display_name":"Kinematics","score":0.7804622650146484},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.551121711730957},{"id":"https://openalex.org/keywords/elbow","display_name":"Elbow","score":0.5230665802955627},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.5137733221054077},{"id":"https://openalex.org/keywords/angular-velocity","display_name":"Angular velocity","score":0.5137072801589966},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4771549105644226},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.46925613284111023},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4684719443321228},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4640257954597473},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.43924203515052795},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3432118892669678},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3381766080856323},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.32857823371887207},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.26633548736572266},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.19627153873443604},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1461324393749237},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1442042589187622},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.08559203147888184}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7804622650146484},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.551121711730957},{"id":"https://openalex.org/C2781184374","wikidata":"https://www.wikidata.org/wiki/Q42586","display_name":"Elbow","level":2,"score":0.5230665802955627},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.5137733221054077},{"id":"https://openalex.org/C5594486","wikidata":"https://www.wikidata.org/wiki/Q161635","display_name":"Angular velocity","level":2,"score":0.5137072801589966},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4771549105644226},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.46925613284111023},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4684719443321228},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4640257954597473},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.43924203515052795},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3432118892669678},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3381766080856323},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.32857823371887207},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.26633548736572266},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.19627153873443604},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1461324393749237},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1442042589187622},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.08559203147888184},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2015.7419105","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2015.7419105","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.41999998688697815,"id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W1966577841","https://openalex.org/W2014796651","https://openalex.org/W2025113330","https://openalex.org/W2085729510","https://openalex.org/W2101225852","https://openalex.org/W2116932110","https://openalex.org/W2136302929","https://openalex.org/W2157893028","https://openalex.org/W2318067361","https://openalex.org/W2387045927","https://openalex.org/W2392864486","https://openalex.org/W4250501149","https://openalex.org/W6675177578"],"related_works":["https://openalex.org/W2331850854","https://openalex.org/W3044940660","https://openalex.org/W2059363081","https://openalex.org/W4312096302","https://openalex.org/W2972304526","https://openalex.org/W2900509454","https://openalex.org/W2109003837","https://openalex.org/W2101598871","https://openalex.org/W2005471069","https://openalex.org/W2119963650"],"abstract_inverted_index":{"This":[0,86],"paper":[1],"focuses":[2],"on":[3,42,70],"kinematic":[4],"characteristics":[5],"of":[6,19,36,49,62,93,100],"articulated":[7],"multi-unit":[8],"wheel":[9,26,28,38,55,101],"type":[10,102],"pipe":[11,103],"robot":[12,21],"system.":[13],"After":[14],"establishing":[15],"the":[16,20,43,46,60,63,77,91],"posture":[17,44],"model":[18],"system":[22],"in":[23],"elbow":[24],"considering":[25],"dimensions,":[27],"center":[29],"coordinates":[30,35],"and":[31,76,97],"corresponding":[32],"contact":[33],"point":[34],"each":[37,54],"are":[39,56,74,83],"presented.":[40,57],"Based":[41],"model,":[45],"ratio":[47],"relations":[48],"theoretical":[50,65,81,88],"angular":[51],"velocity":[52],"for":[53,90],"To":[58],"confirm":[59],"effectiveness":[61],"proposed":[64],"analysis,":[66],"simulation":[67],"analyses":[68],"based":[69],"virtual":[71],"prototype":[72],"technology":[73],"performed,":[75],"analysis":[78],"results":[79],"with":[80],"calculations":[82],"basically":[84],"identical.":[85],"provide":[87],"basis":[89],"selection":[92],"driving":[94],"mechanism":[95],"design":[96],"control":[98],"mode":[99],"robot.":[104]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}