{"id":"https://openalex.org/W2118032271","doi":"https://doi.org/10.1109/robot.2002.1014391","title":"Coupling of two 2-link robots with a passive joint for reconfigurable planar parallel robot","display_name":"Coupling of two 2-link robots with a passive joint for reconfigurable planar parallel robot","publication_year":2003,"publication_date":"2003-06-25","ids":{"openalex":"https://openalex.org/W2118032271","doi":"https://doi.org/10.1109/robot.2002.1014391","mag":"2118032271"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2002.1014391","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2002.1014391","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292)","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/A5012777617","display_name":"Osamu Mori","orcid":"https://orcid.org/0000-0001-9441-3356"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"O. Mori","raw_affiliation_strings":["Tokyo Institute of Technology, Yokohama, Kanagawa, Japan","Tokyo Inst. of Tech., Yokohama (Japan)"],"affiliations":[{"raw_affiliation_string":"Tokyo Institute of Technology, Yokohama, Kanagawa, Japan","institution_ids":["https://openalex.org/I114531698"]},{"raw_affiliation_string":"Tokyo Inst. of Tech., Yokohama (Japan)","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102844026","display_name":"Toru Omata","orcid":"https://orcid.org/0000-0003-3577-7672"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"T. Omata","raw_affiliation_strings":["Tokyo Institute of Technology, Yokohama, Kanagawa, Japan","Tokyo Inst. of Tech., Yokohama (Japan)"],"affiliations":[{"raw_affiliation_string":"Tokyo Institute of Technology, Yokohama, Kanagawa, Japan","institution_ids":["https://openalex.org/I114531698"]},{"raw_affiliation_string":"Tokyo Inst. of Tech., Yokohama (Japan)","institution_ids":["https://openalex.org/I114531698"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5012777617"],"corresponding_institution_ids":["https://openalex.org/I114531698"],"apc_list":null,"apc_paid":null,"fwci":3.5157,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.91977478,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":95},"biblio":{"volume":"4","issue":null,"first_page":"4120","last_page":"4125"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9988999962806702,"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/T11737","display_name":"Advanced Materials and Mechanics","score":0.9980999827384949,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.8772640228271484},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.7491746544837952},{"id":"https://openalex.org/keywords/kinematic-chain","display_name":"Kinematic chain","score":0.7441062927246094},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.6862150430679321},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6794917583465576},{"id":"https://openalex.org/keywords/coupling","display_name":"Coupling (piping)","score":0.6519926190376282},{"id":"https://openalex.org/keywords/link","display_name":"Link (geometry)","score":0.6003150939941406},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5614191293716431},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5520122051239014},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.5432658195495605},{"id":"https://openalex.org/keywords/kinematic-diagram","display_name":"Kinematic diagram","score":0.510905921459198},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.49214261770248413},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.47458529472351074},{"id":"https://openalex.org/keywords/chain","display_name":"Chain (unit)","score":0.4650351405143738},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.4142377972602844},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.25302571058273315},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24120670557022095},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2181936502456665},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20077934861183167},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.19919341802597046},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.08939409255981445},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.08886677026748657},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.07647973299026489},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.045375704765319824}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.8772640228271484},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7491746544837952},{"id":"https://openalex.org/C62837456","wikidata":"https://www.wikidata.org/wiki/Q678308","display_name":"Kinematic chain","level":3,"score":0.7441062927246094},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.6862150430679321},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6794917583465576},{"id":"https://openalex.org/C131584629","wikidata":"https://www.wikidata.org/wiki/Q4308705","display_name":"Coupling (piping)","level":2,"score":0.6519926190376282},{"id":"https://openalex.org/C2778753846","wikidata":"https://www.wikidata.org/wiki/Q6554239","display_name":"Link (geometry)","level":2,"score":0.6003150939941406},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5614191293716431},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5520122051239014},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.5432658195495605},{"id":"https://openalex.org/C171046052","wikidata":"https://www.wikidata.org/wiki/Q29301","display_name":"Kinematic diagram","level":4,"score":0.510905921459198},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.49214261770248413},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.47458529472351074},{"id":"https://openalex.org/C199185054","wikidata":"https://www.wikidata.org/wiki/Q552299","display_name":"Chain (unit)","level":2,"score":0.4650351405143738},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.4142377972602844},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.25302571058273315},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24120670557022095},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2181936502456665},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20077934861183167},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.19919341802597046},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.08939409255981445},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.08886677026748657},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.07647973299026489},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.045375704765319824},{"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2002.1014391","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2002.1014391","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8299999833106995,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W1615421683","https://openalex.org/W1960096875","https://openalex.org/W2013232999","https://openalex.org/W2057478547","https://openalex.org/W2110140978","https://openalex.org/W2113880180","https://openalex.org/W2136073474","https://openalex.org/W2138061524","https://openalex.org/W2161401171","https://openalex.org/W2341668857","https://openalex.org/W4256526535","https://openalex.org/W4285719527","https://openalex.org/W6676779515"],"related_works":["https://openalex.org/W4244295168","https://openalex.org/W2121099283","https://openalex.org/W2544369928","https://openalex.org/W4206303049","https://openalex.org/W2743986139","https://openalex.org/W2110532335","https://openalex.org/W2005471069","https://openalex.org/W2349125042","https://openalex.org/W4312515014","https://openalex.org/W4238033949"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,32,54,96],"reconfigurable":[4],"planar":[5],"parallel":[6,64],"robot":[7,65],"by":[8,75],"coupling":[9,101],"two":[10,68],"2R":[11,86],"open":[12,87],"kinematic":[13,35,57,88,110],"chains":[14,89,111],"(or":[15],"2-link":[16],"robots),":[17],"the":[18,39,79,85,105],"first":[19],"joints":[20],"of":[21,42,47],"which":[22,37],"are":[23],"passive.":[24],"We":[25,99],"show":[26],"that":[27],"they":[28],"can":[29,50,71,90],"reconfigure":[30,52],"to":[31,53,78],"5R":[33,108],"closed":[34,56,109],"chain":[36,58],"has":[38,66],"same":[40],"number":[41],"actuators":[43,69],"as":[44],"its":[45],"degrees":[46],"freedom.":[48],"They":[49],"also":[51],"4R":[55,106],"plus":[59],"one":[60],"actuated":[61],"link.":[62],"The":[63],"only":[67],"but":[70],"have":[72],"multiple":[73],"functions":[74],"reconfigurations.":[76],"Due":[77],"passive":[80],"joints,":[81],"whether":[82],"or":[83],"not":[84],"couple":[91],"with":[92],"each":[93],"other":[94],"is":[95],"non-trivial":[97],"problem.":[98],"propose":[100],"sequences":[102],"for":[103],"forming":[104],"and":[107,112],"verify":[113],"those":[114],"experimentally.":[115]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2015,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}