{"id":"https://openalex.org/W4317383065","doi":"https://doi.org/10.1109/robio55434.2022.10011684","title":"Type synthesis of 5-DOF redundantly actuated parallel robots for super-large components with complicated surfaces","display_name":"Type synthesis of 5-DOF redundantly actuated parallel robots for super-large components with complicated surfaces","publication_year":2022,"publication_date":"2022-12-05","ids":{"openalex":"https://openalex.org/W4317383065","doi":"https://doi.org/10.1109/robio55434.2022.10011684"},"language":"en","primary_location":{"id":"doi:10.1109/robio55434.2022.10011684","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/robio55434.2022.10011684","pdf_url":null,"source":{"id":"https://openalex.org/S4363607789","display_name":"2022 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":"2022 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/A5018298926","display_name":"Bingshan Jiang","orcid":"https://orcid.org/0000-0002-9471-8309"},"institutions":[{"id":"https://openalex.org/I4210123185","display_name":"Zhejiang Lab","ror":"https://ror.org/02m2h7991","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210123185"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bingshan Jiang","raw_affiliation_strings":["Research Center for Intelligent Robotics, Research Institute of Interdisciplinary Innovation,Zhejiang Lab,Hangzhou,China,311100"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Research Center for Intelligent Robotics, Research Institute of Interdisciplinary Innovation,Zhejiang Lab,Hangzhou,China,311100","institution_ids":["https://openalex.org/I4210123185"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010512193","display_name":"Lingyu Kong","orcid":"https://orcid.org/0000-0002-5484-8440"},"institutions":[{"id":"https://openalex.org/I4210123185","display_name":"Zhejiang Lab","ror":"https://ror.org/02m2h7991","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210123185"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lingyu Kong","raw_affiliation_strings":["Research Center for Intelligent Robotics, Research Institute of Interdisciplinary Innovation,Zhejiang Lab,Hangzhou,China,311100"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Research Center for Intelligent Robotics, Research Institute of Interdisciplinary Innovation,Zhejiang Lab,Hangzhou,China,311100","institution_ids":["https://openalex.org/I4210123185"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039356472","display_name":"Shiqiang Zhu","orcid":"https://orcid.org/0000-0002-5687-4001"},"institutions":[{"id":"https://openalex.org/I4210123185","display_name":"Zhejiang Lab","ror":"https://ror.org/02m2h7991","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210123185"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shiqiang Zhu","raw_affiliation_strings":["Research Center for Intelligent Robotics, Research Institute of Interdisciplinary Innovation,Zhejiang Lab,Hangzhou,China,311100"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Research Center for Intelligent Robotics, Research Institute of Interdisciplinary Innovation,Zhejiang Lab,Hangzhou,China,311100","institution_ids":["https://openalex.org/I4210123185"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004005176","display_name":"Hairong Fang","orcid":"https://orcid.org/0000-0001-7938-4737"},"institutions":[{"id":"https://openalex.org/I21193070","display_name":"Beijing Jiaotong University","ror":"https://ror.org/01yj56c84","country_code":"CN","type":"education","lineage":["https://openalex.org/I21193070"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hairong Fang","raw_affiliation_strings":["Department of Engineering Mechanics at Beijing Jiaotong University,China","Department of Engineering Mechanics at Beijing Jiaotong University, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Engineering Mechanics at Beijing Jiaotong University,China","institution_ids":["https://openalex.org/I21193070"]},{"raw_affiliation_string":"Department of Engineering Mechanics at Beijing Jiaotong University, China","institution_ids":["https://openalex.org/I21193070"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032102869","display_name":"Anhuan Xie","orcid":"https://orcid.org/0000-0002-8348-0067"},"institutions":[{"id":"https://openalex.org/I4210123185","display_name":"Zhejiang Lab","ror":"https://ror.org/02m2h7991","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210123185"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Anhuan Xie","raw_affiliation_strings":["Research Center for Intelligent Robotics, Research Institute of Interdisciplinary Innovation,Zhejiang Lab,Hangzhou,China,311100"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Research Center for Intelligent Robotics, Research Institute of Interdisciplinary Innovation,Zhejiang Lab,Hangzhou,China,311100","institution_ids":["https://openalex.org/I4210123185"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013942657","display_name":"Guanyu Huang","orcid":null},"institutions":[{"id":"https://openalex.org/I4210123185","display_name":"Zhejiang Lab","ror":"https://ror.org/02m2h7991","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210123185"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guanyu Huang","raw_affiliation_strings":["Research Center for Intelligent Robotics, Research Institute of Interdisciplinary Innovation,Zhejiang Lab,Hangzhou,China,311100"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Research Center for Intelligent Robotics, Research Institute of Interdisciplinary Innovation,Zhejiang Lab,Hangzhou,China,311100","institution_ids":["https://openalex.org/I4210123185"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100562972","display_name":"Jianjun Gu","orcid":null},"institutions":[{"id":"https://openalex.org/I4210123185","display_name":"Zhejiang Lab","ror":"https://ror.org/02m2h7991","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210123185"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianjun Gu","raw_affiliation_strings":["Zhejiang Lab,Hangzhou,China","Zhejiang Lab, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhejiang Lab,Hangzhou,China","institution_ids":["https://openalex.org/I4210123185"]},{"raw_affiliation_string":"Zhejiang Lab, Hangzhou, China","institution_ids":["https://openalex.org/I4210123185"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100322313","display_name":"Lan Zhang","orcid":"https://orcid.org/0000-0002-9047-2006"},"institutions":[{"id":"https://openalex.org/I4210123185","display_name":"Zhejiang Lab","ror":"https://ror.org/02m2h7991","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210123185"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lan Zhang","raw_affiliation_strings":["Research Center for Intelligent Robotics, Research Institute of Interdisciplinary Innovation,Zhejiang Lab,Hangzhou,China,311100"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Research Center for Intelligent Robotics, Research Institute of Interdisciplinary Innovation,Zhejiang Lab,Hangzhou,China,311100","institution_ids":["https://openalex.org/I4210123185"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100461121","display_name":"Haoyang Zhang","orcid":"https://orcid.org/0000-0002-3418-0367"},"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":"Haoyang Zhang","raw_affiliation_strings":["Zhejiang University,Hangzhou,China","Zhejiang University, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhejiang University,Hangzhou,China","institution_ids":["https://openalex.org/I76130692"]},{"raw_affiliation_string":"Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101756385","display_name":"Jiatao Zhang","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"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiatao Zhang","raw_affiliation_strings":["Zhejiang University,Hangzhou,China","Zhejiang University, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhejiang University,Hangzhou,China","institution_ids":["https://openalex.org/I76130692"]},{"raw_affiliation_string":"Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":10,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.29241296,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"67","issue":null,"first_page":"851","last_page":"858"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9994000196456909,"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":0.9994000196456909,"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":0.9972000122070312,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9958000183105469,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6997108459472656},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5975695848464966},{"id":"https://openalex.org/keywords/screw-theory","display_name":"Screw theory","score":0.5951704382896423},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5626625418663025},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5329564213752747},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.5037960410118103},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.48467615246772766},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.42331764101982117},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2223896086215973},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.16806438565254211},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.15357086062431335},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.12139889597892761}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6997108459472656},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5975695848464966},{"id":"https://openalex.org/C18788176","wikidata":"https://www.wikidata.org/wiki/Q7891441","display_name":"Screw theory","level":3,"score":0.5951704382896423},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5626625418663025},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5329564213752747},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.5037960410118103},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.48467615246772766},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.42331764101982117},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2223896086215973},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.16806438565254211},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.15357086062431335},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.12139889597892761},{"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio55434.2022.10011684","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/robio55434.2022.10011684","pdf_url":null,"source":{"id":"https://openalex.org/S4363607789","display_name":"2022 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":"2022 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":0.8100000023841858,"display_name":"Peace, Justice and strong institutions"}],"awards":[{"id":"https://openalex.org/G2058441256","display_name":null,"funder_award_id":"2018JBZ007","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"}],"funders":[{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W328472716","https://openalex.org/W949733644","https://openalex.org/W1546490799","https://openalex.org/W1866068186","https://openalex.org/W1963976266","https://openalex.org/W1981752723","https://openalex.org/W1981847132","https://openalex.org/W1991206179","https://openalex.org/W1991761588","https://openalex.org/W2007369912","https://openalex.org/W2065174811","https://openalex.org/W2068190763","https://openalex.org/W2077414981","https://openalex.org/W2092117435","https://openalex.org/W2099732938","https://openalex.org/W2128203418","https://openalex.org/W2136435475","https://openalex.org/W2557131109","https://openalex.org/W2566836865","https://openalex.org/W2591807768","https://openalex.org/W2607108789","https://openalex.org/W2735544640","https://openalex.org/W2805422627","https://openalex.org/W2807219771","https://openalex.org/W2846645011","https://openalex.org/W2912549555","https://openalex.org/W3045872120"],"related_works":["https://openalex.org/W2808797274","https://openalex.org/W2145154791","https://openalex.org/W2751398071","https://openalex.org/W2051802930","https://openalex.org/W2922464249","https://openalex.org/W2106509686","https://openalex.org/W2022764191","https://openalex.org/W2347527612","https://openalex.org/W1830149916","https://openalex.org/W2081541259"],"abstract_inverted_index":{"Super-large":[0],"components":[1,15,51,152],"with":[2,16,52,75,153],"complicated":[3,17,53,154],"surfaces":[4,18],"are":[5,98,120],"used":[6,37],"for":[7,145],"many":[8],"applications,":[9],"the":[10,56,103,125,133,143,147],"processing":[11,148],"method":[12,149],"of":[13,28,59,72,96,102,111,115,124,150],"super-large":[14,50,151],"is":[19,61,128],"also":[20],"problem":[21],"to":[22,48],"be":[23,36],"solved.":[24],"The":[25,130],"5-DOF":[26,63,73],"(degrees":[27],"freedom)":[29],"redundantly":[30],"actuated":[31],"parallel":[32,41,64],"robots":[33],"(RAPRs)":[34],"can":[35],"as":[38],"a":[39,44,62,113],"movable":[40],"module":[42],"in":[43],"multi-axis":[45],"machine":[46],"center":[47],"process":[49],"surfaces.":[54,155],"However,":[55],"mechanical":[57],"body":[58],"RAPRs":[60],"mechanism.":[65],"This":[66,140],"paper":[67],"focuses":[68],"on":[69,82],"type":[70],"synthesis":[71],"RAPMs":[74,119],"large":[76,136],"output":[77,137],"rotational":[78,138],"angles.":[79,139],"First,":[80],"based":[81],"configuration":[83],"evolution":[84],"and":[85,93,108,117],"Lie":[86],"group":[87],"theory,":[88],"one":[89],"articulated":[90,105],"moving":[91,106],"platform":[92],"four":[94,109],"kinds":[95,110],"limbs":[97],"designed.":[99],"By":[100],"means":[101],"proposed":[104],"platforms":[107],"limbs,":[112],"series":[114],"3T2R":[116],"2T3R":[118],"synthesized.":[121],"Then,":[122],"kinematics":[123],"example,":[126],"RAPM,":[127],"analyzed.":[129],"results":[131],"show":[132],"RAPM":[134],"possesses":[135],"work":[141],"lays":[142],"foundation":[144],"solving":[146]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}