{"id":"https://openalex.org/W2794146576","doi":"https://doi.org/10.1109/robio.2017.8324604","title":"Kinematics and singularity analysis of a 3-RPS parallel mechanism","display_name":"Kinematics and singularity analysis of a 3-RPS parallel mechanism","publication_year":2017,"publication_date":"2017-12-01","ids":{"openalex":"https://openalex.org/W2794146576","doi":"https://doi.org/10.1109/robio.2017.8324604","mag":"2794146576"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2017.8324604","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2017.8324604","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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/A5111923015","display_name":"Yongfeng Wang","orcid":"https://orcid.org/0000-0001-9079-6054"},"institutions":[{"id":"https://openalex.org/I184843921","display_name":"Hebei University of Technology","ror":"https://ror.org/018hded08","country_code":"CN","type":"education","lineage":["https://openalex.org/I184843921"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yongfeng Wang","raw_affiliation_strings":["School of Mechanical Engineering, Hebei University of Technology, Tianjin, P. R. China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Hebei University of Technology, Tianjin, P. R. China","institution_ids":["https://openalex.org/I184843921"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062735503","display_name":"Shuncheng Fan","orcid":null},"institutions":[{"id":"https://openalex.org/I184843921","display_name":"Hebei University of Technology","ror":"https://ror.org/018hded08","country_code":"CN","type":"education","lineage":["https://openalex.org/I184843921"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuncheng Fan","raw_affiliation_strings":["School of Mechanical Engineering, Hebei University of Technology, Tianjin, P. R. China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Hebei University of Technology, Tianjin, P. R. China","institution_ids":["https://openalex.org/I184843921"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5107928391","display_name":"Xiaojun Zhang","orcid":"https://orcid.org/0000-0002-8297-7397"},"institutions":[{"id":"https://openalex.org/I184843921","display_name":"Hebei University of Technology","ror":"https://ror.org/018hded08","country_code":"CN","type":"education","lineage":["https://openalex.org/I184843921"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaojun Zhang","raw_affiliation_strings":["School of Mechanical Engineering, Hebei University of Technology, Tianjin, P. R. China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Hebei University of Technology, Tianjin, P. R. China","institution_ids":["https://openalex.org/I184843921"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077330645","display_name":"Guangda Lu","orcid":"https://orcid.org/0000-0001-7839-5848"},"institutions":[{"id":"https://openalex.org/I133270356","display_name":"Tianjin University of Technology and Education","ror":"https://ror.org/035gwtk09","country_code":"CN","type":"education","lineage":["https://openalex.org/I133270356"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guangda Lu","raw_affiliation_strings":["Automatization Engineering College, Tianjin University of Technology and Education, Tianjin, P. R. China"],"affiliations":[{"raw_affiliation_string":"Automatization Engineering College, Tianjin University of Technology and Education, Tianjin, P. R. China","institution_ids":["https://openalex.org/I133270356"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5040518468","display_name":"Guoru Zhao","orcid":"https://orcid.org/0000-0001-9348-9236"},"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":"Guoru Zhao","raw_affiliation_strings":["Chinese Academy of Sciences, Shenzhen Institutes of Advanced Technology, Shenzhen, P. R. China"],"affiliations":[{"raw_affiliation_string":"Chinese Academy of Sciences, Shenzhen Institutes of Advanced Technology, Shenzhen, P. R. China","institution_ids":["https://openalex.org/I4210145761","https://openalex.org/I19820366"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5111923015"],"corresponding_institution_ids":["https://openalex.org/I184843921"],"apc_list":null,"apc_paid":null,"fwci":0.4023,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.66283119,"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":"1348","last_page":"1351"},"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/T10868","display_name":"Soft Robotics and Applications","score":0.9901999831199646,"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":0.9896000027656555,"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/revolute-joint","display_name":"Revolute joint","score":0.9312881827354431},{"id":"https://openalex.org/keywords/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.815495491027832},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6870688796043396},{"id":"https://openalex.org/keywords/singularity","display_name":"Singularity","score":0.6271699666976929},{"id":"https://openalex.org/keywords/intersection","display_name":"Intersection (aeronautics)","score":0.622254490852356},{"id":"https://openalex.org/keywords/screw-theory","display_name":"Screw theory","score":0.5646002292633057},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.5152350068092346},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.48607900738716125},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4338034391403198},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.42914456129074097},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.4219000041484833},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.41941314935684204},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.37802669405937195},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.370189368724823},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.285115122795105},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2617824077606201},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.2288326621055603},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.18493878841400146},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.14250457286834717},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.13283202052116394},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.07928386330604553}],"concepts":[{"id":"https://openalex.org/C5643039","wikidata":"https://www.wikidata.org/wiki/Q3819341","display_name":"Revolute joint","level":3,"score":0.9312881827354431},{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.815495491027832},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6870688796043396},{"id":"https://openalex.org/C16171025","wikidata":"https://www.wikidata.org/wiki/Q863349","display_name":"Singularity","level":2,"score":0.6271699666976929},{"id":"https://openalex.org/C64543145","wikidata":"https://www.wikidata.org/wiki/Q162942","display_name":"Intersection (aeronautics)","level":2,"score":0.622254490852356},{"id":"https://openalex.org/C18788176","wikidata":"https://www.wikidata.org/wiki/Q7891441","display_name":"Screw theory","level":3,"score":0.5646002292633057},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.5152350068092346},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.48607900738716125},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4338034391403198},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.42914456129074097},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4219000041484833},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.41941314935684204},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.37802669405937195},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.370189368724823},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.285115122795105},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2617824077606201},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.2288326621055603},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.18493878841400146},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.14250457286834717},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.13283202052116394},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.07928386330604553},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"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/robio.2017.8324604","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2017.8324604","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.46000000834465027,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W1256870269","https://openalex.org/W1977039175","https://openalex.org/W2010750342","https://openalex.org/W2012615791","https://openalex.org/W2017420452","https://openalex.org/W2029067834","https://openalex.org/W2041368296","https://openalex.org/W2074192431","https://openalex.org/W2126552072","https://openalex.org/W2323050336","https://openalex.org/W2330627110","https://openalex.org/W2334861716","https://openalex.org/W2405316700"],"related_works":["https://openalex.org/W1679399962","https://openalex.org/W2132859693","https://openalex.org/W1901106430","https://openalex.org/W2343089846","https://openalex.org/W2371787712","https://openalex.org/W2138030819","https://openalex.org/W2392252176","https://openalex.org/W2384277607","https://openalex.org/W2378875176","https://openalex.org/W1996977285"],"abstract_inverted_index":{"The":[0,43,156],"3-RPS":[1],"parallel":[2,168],"mechanism":[3,11,67,74],"with":[4,75,114],"arc":[5,34,101],"prismatic":[6,35],"pairs":[7,47],"is":[8,59,87],"presented,":[9],"this":[10,110,167],"possesses":[12],"a":[13,16,33,39,148,153,159],"moving":[14,85,119,143],"platform,":[15,18],"fixed":[17,149,154],"and":[19,38,52,64,80,103,109,130,164],"three":[20,76,92],"limb":[21,25],"kinematic":[22,26],"chains.":[23],"Each":[24],"chain":[27],"consists":[28],"of":[29,45,66,78,84,91,100,106,117,140,142,166],"revolute":[30,46],"pair":[31,36],"R,":[32],"P,":[37],"spherical":[40,107],"joint":[41],"S.":[42],"axis":[44],"are":[48,68,135,145],"intersect":[49],"each":[50,98],"other":[51],"coplanar,":[53],"the":[54,81,104,115,118,122,126,131,137],"angle":[55],"between":[56],"two":[57],"axes":[58],"60\u00b0.":[60],"Mobility,":[61],"inverse":[62],"solution":[63],"workspace":[65],"analyzed":[69,146],"via":[70],"screw":[71],"theory.":[72],"This":[73],"degrees":[77],"freedom,":[79],"rotational":[82],"center":[83,99,105],"platform":[86,144],"an":[88],"intersection":[89,111],"point":[90,112,151],"straight":[93],"lines,":[94],"which":[95],"passing":[96],"through":[97],"rod":[102],"joint,":[108],"changes":[113],"posture":[116],"platform.":[120],"Furthermore,":[121],"Jacobian":[123,127,132],"constraint":[124],"matrix,":[125],"actuation":[128],"matrix":[129,134],"overall":[133],"obtained,":[136],"singularity":[138],"configurations":[139],"pose":[141],"by":[147],"rotation":[150],"or":[152],"pose.":[155],"result":[157],"provides":[158],"theoretical":[160],"basis":[161],"for":[162],"kinematics":[163],"dynamics":[165],"mechanism.":[169]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
