{"id":"https://openalex.org/W4226117662","doi":"https://doi.org/10.1109/robio54168.2021.9739310","title":"Dexterous Workspace Analysis of Industrial Robot for Machining Based on Service Sphere","display_name":"Dexterous Workspace Analysis of Industrial Robot for Machining Based on Service Sphere","publication_year":2021,"publication_date":"2021-12-27","ids":{"openalex":"https://openalex.org/W4226117662","doi":"https://doi.org/10.1109/robio54168.2021.9739310"},"language":"en","primary_location":{"id":"doi:10.1109/robio54168.2021.9739310","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio54168.2021.9739310","pdf_url":null,"source":{"id":"https://openalex.org/S4363607846","display_name":"2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 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/A5113938150","display_name":"Zhenya He","orcid":null},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]},{"id":"https://openalex.org/I90610280","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50","country_code":"CN","type":"education","lineage":["https://openalex.org/I90610280"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhenya He","raw_affiliation_strings":["South China University of Technology,Guangdong Provincial Key Laboratory of Precision Equipment and Manufacturing Technology,Guangzhou,China,510640","State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"South China University of Technology,Guangdong Provincial Key Laboratory of Precision Equipment and Manufacturing Technology,Guangzhou,China,510640","institution_ids":["https://openalex.org/I90610280"]},{"raw_affiliation_string":"State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021001102","display_name":"Junming Wang","orcid":"https://orcid.org/0000-0003-4335-037X"},"institutions":[{"id":"https://openalex.org/I90610280","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50","country_code":"CN","type":"education","lineage":["https://openalex.org/I90610280"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junming Wang","raw_affiliation_strings":["South China University of Technology,Guangdong Provincial Key Laboratory of Precision Equipment and Manufacturing Technology,Guangzhou,China,510640"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"South China University of Technology,Guangdong Provincial Key Laboratory of Precision Equipment and Manufacturing Technology,Guangzhou,China,510640","institution_ids":["https://openalex.org/I90610280"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101469051","display_name":"Xianmin Zhang","orcid":"https://orcid.org/0000-0001-9472-3151"},"institutions":[{"id":"https://openalex.org/I90610280","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50","country_code":"CN","type":"education","lineage":["https://openalex.org/I90610280"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xianmin Zhang","raw_affiliation_strings":["South China University of Technology,Guangdong Provincial Key Laboratory of Precision Equipment and Manufacturing Technology,Guangzhou,China,510640"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"South China University of Technology,Guangdong Provincial Key Laboratory of Precision Equipment and Manufacturing Technology,Guangzhou,China,510640","institution_ids":["https://openalex.org/I90610280"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056635676","display_name":"Guojian Huang","orcid":null},"institutions":[{"id":"https://openalex.org/I4210100872","display_name":"Guangzhou Academy of Special Equipment Inspection and Testing","ror":"https://ror.org/012pz7r49","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210100872"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guojian Huang","raw_affiliation_strings":["Guangdong Mechanical &#x0026; Electrical Polytechnic,School of Electrical Engineering,Guangzhou,China,510550"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Guangdong Mechanical &#x0026; Electrical Polytechnic,School of Electrical Engineering,Guangzhou,China,510550","institution_ids":["https://openalex.org/I4210100872"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029849037","display_name":"Mingjing Song","orcid":null},"institutions":[{"id":"https://openalex.org/I90610280","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50","country_code":"CN","type":"education","lineage":["https://openalex.org/I90610280"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mingjing Song","raw_affiliation_strings":["South China University of Technology,Guangdong Provincial Key Laboratory of Precision Equipment and Manufacturing Technology,Guangzhou,China,510640"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"South China University of Technology,Guangdong Provincial Key Laboratory of Precision Equipment and Manufacturing Technology,Guangzhou,China,510640","institution_ids":["https://openalex.org/I90610280"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100728019","display_name":"Jianzhong Fu","orcid":"https://orcid.org/0000-0002-5289-9295"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianzhong Fu","raw_affiliation_strings":["Zhejiang University,State Key Laboratory of Fluid Power and Mechatronic Systems,Hangzhou,China,310027"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhejiang University,State Key Laboratory of Fluid Power and Mechatronic Systems,Hangzhou,China,310027","institution_ids":["https://openalex.org/I76130692"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.32314887,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":"41","issue":null,"first_page":"469","last_page":"474"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9995999932289124,"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":0.9995999932289124,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9990000128746033,"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/T11159","display_name":"Manufacturing Process and Optimization","score":0.9972000122070312,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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":0.8981205224990845},{"id":"https://openalex.org/keywords/machining","display_name":"Machining","score":0.8881887197494507},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7215985655784607},{"id":"https://openalex.org/keywords/expression","display_name":"Expression (computer science)","score":0.4867527484893799},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4768356382846832},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.46392497420310974},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.45054543018341064},{"id":"https://openalex.org/keywords/industrial-robot","display_name":"Industrial robot","score":0.4412318766117096},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.42907750606536865},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4168010652065277},{"id":"https://openalex.org/keywords/engineering-drawing","display_name":"Engineering drawing","score":0.34942391514778137},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.33077365159988403},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.29986047744750977}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.8981205224990845},{"id":"https://openalex.org/C523214423","wikidata":"https://www.wikidata.org/wiki/Q192047","display_name":"Machining","level":2,"score":0.8881887197494507},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7215985655784607},{"id":"https://openalex.org/C90559484","wikidata":"https://www.wikidata.org/wiki/Q778379","display_name":"Expression (computer science)","level":2,"score":0.4867527484893799},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4768356382846832},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.46392497420310974},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.45054543018341064},{"id":"https://openalex.org/C2776126113","wikidata":"https://www.wikidata.org/wiki/Q1128980","display_name":"Industrial robot","level":3,"score":0.4412318766117096},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.42907750606536865},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4168010652065277},{"id":"https://openalex.org/C199639397","wikidata":"https://www.wikidata.org/wiki/Q1788588","display_name":"Engineering drawing","level":1,"score":0.34942391514778137},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.33077365159988403},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.29986047744750977},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio54168.2021.9739310","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio54168.2021.9739310","pdf_url":null,"source":{"id":"https://openalex.org/S4363607846","display_name":"2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Industry, innovation and infrastructure","score":0.49000000953674316,"id":"https://metadata.un.org/sdg/9"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321921","display_name":"Natural Science Foundation of Guangdong Province","ror":null},{"id":"https://openalex.org/F4320326951","display_name":"State Key Laboratory of Fluid Power and Mechatronic Systems","ror":null},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W2018181447","https://openalex.org/W2023005132","https://openalex.org/W2042579491","https://openalex.org/W2053150939","https://openalex.org/W2053482006","https://openalex.org/W2085545845","https://openalex.org/W2324665307","https://openalex.org/W2596281193","https://openalex.org/W2744290882","https://openalex.org/W2772173308","https://openalex.org/W2795584040","https://openalex.org/W2801565961","https://openalex.org/W2883385699","https://openalex.org/W2897794383","https://openalex.org/W2901728955","https://openalex.org/W2934971075","https://openalex.org/W2945109808","https://openalex.org/W2991307868","https://openalex.org/W3157396111","https://openalex.org/W3175736200"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2371519816","https://openalex.org/W2043154226","https://openalex.org/W2369529107","https://openalex.org/W2329043542","https://openalex.org/W2109948066","https://openalex.org/W1678858522","https://openalex.org/W3195090107","https://openalex.org/W4244907930","https://openalex.org/W2171912896"],"abstract_inverted_index":{"This":[0],"paper":[1,164],"presents":[2],"a":[3,33,66],"new":[4,34],"method":[5,36,160],"of":[6,12,22,55,74,129,145,153,185],"dexterity":[7,50],"analysis":[8],"for":[9,26,52,82,173,180],"machining":[10,53,90,132,135,146,155,174],"workspace":[11,54,172],"industrial":[13,27,56],"robots":[14,28],"based":[15,37],"on":[16,38,65],"service":[17,24,39],"sphere.":[18],"Firstly,":[19],"the":[20,23,42,49,59,72,75,88,95,127,142,149,158,170,178,182],"definition":[21],"sphere":[25,40],"was":[29,45,92],"introduced,":[30],"and":[31,118,133,151,176],"then":[32],"expression":[35,159],"using":[41],"attitude":[43],"angles":[44],"presented":[46,76,161],"to":[47,70,103,109,116,121,125,168],"describe":[48],"index":[51],"robots.":[57],"Secondly,":[58],"simulation":[60],"experiments":[61],"were":[62],"carried":[63],"out":[64],"6-DOF":[67],"serial":[68],"robot":[69],"verify":[71],"feasibility":[73],"method.":[77],"The":[78],"results":[79],"show":[80],"that,":[81],"an":[83],"ABB":[84],"IRB":[85],"120":[86],"robot,":[87],"suitable":[89],"region":[91],"found":[93],"in":[94,123,162],"cuboid":[96],"area":[97],"where":[98],"x":[99],"ranges":[100,106,113],"from":[101,107,114,119],"150mm":[102],"300mm,":[104],"y":[105],"-150mm":[108],"150mm,":[110],"with":[111],"z":[112],"360mm":[115],"500mm":[117],"450mm":[120],"630mm,":[122],"order":[124],"meet":[126],"need":[128],"3-axis":[130],"vertical":[131],"multi-axis":[134],"respectively.":[136],"It":[137],"can":[138],"be":[139,166],"seen":[140],"that":[141],"different":[143],"demand":[144],"process":[147],"influences":[148],"position":[150],"size":[152],"dexterous":[154,171],"workspace.":[156],"Therefore,":[157],"this":[163],"could":[165],"used":[167],"analyze":[169],"robots,":[175],"provide":[177],"basis":[179],"determining":[181],"mounting":[183],"positions":[184],"workpieces.":[186]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
