{"id":"https://openalex.org/W2111236735","doi":"https://doi.org/10.1109/robot.2003.1242226","title":"Inverse dynamics and simulation of a 3-DOF spatial parallel manipulator","display_name":"Inverse dynamics and simulation of a 3-DOF spatial parallel manipulator","publication_year":2004,"publication_date":"2004-03-22","ids":{"openalex":"https://openalex.org/W2111236735","doi":"https://doi.org/10.1109/robot.2003.1242226","mag":"2111236735"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2003.1242226","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2003.1242226","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)","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/A5100619886","display_name":"Yuwen Li","orcid":"https://orcid.org/0000-0002-8143-6783"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yu-Wen Li","raw_affiliation_strings":["Department of Precision Instmments and Mechanology, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Department of Precision Instmments and Mechanology, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100639866","display_name":"Jinsong Wang","orcid":"https://orcid.org/0000-0002-1010-6699"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jin-Song Wang","raw_affiliation_strings":["Department of Precision Instmments and Mechanology, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Department of Precision Instmments and Mechanology, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112315758","display_name":"Liping Wang","orcid":"https://orcid.org/0000-0002-9594-026X"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Li-Ping Wang","raw_affiliation_strings":["Department of Precision Instmments and Mechanology, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Department of Precision Instmments and Mechanology, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5006520303","display_name":"Xin-Jun Liu","orcid":"https://orcid.org/0000-0001-8252-8367"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Xin-Jun Liu","raw_affiliation_strings":["School of Mechanical and Aerospace Engineering, Seoul National University, Seoul, South Korea"],"affiliations":[{"raw_affiliation_string":"School of Mechanical and Aerospace Engineering, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5100619886"],"corresponding_institution_ids":["https://openalex.org/I99065089"],"apc_list":null,"apc_paid":null,"fwci":10.4308,"has_fulltext":false,"cited_by_count":50,"citation_normalized_percentile":{"value":0.97924917,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"3","issue":null,"first_page":"4092","last_page":"4097"},"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":0.9933000206947327,"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/T11301","display_name":"Advanced Surface Polishing Techniques","score":0.9872000217437744,"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":0.7469497323036194},{"id":"https://openalex.org/keywords/inverse-dynamics","display_name":"Inverse dynamics","score":0.7116475701332092},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.707618236541748},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.5950125455856323},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5909152030944824},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.5760359764099121},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5508567690849304},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.5367672443389893},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.49919724464416504},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.4754626154899597},{"id":"https://openalex.org/keywords/eulers-formula","display_name":"Euler's formula","score":0.4560854136943817},{"id":"https://openalex.org/keywords/kinematics-equations","display_name":"Kinematics equations","score":0.423710435628891},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.3337400555610657},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3143320679664612},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1704188585281372},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.14128533005714417},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.13850492238998413},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11497360467910767},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10776257514953613},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.09110274910926819}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7469497323036194},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.7116475701332092},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.707618236541748},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.5950125455856323},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5909152030944824},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.5760359764099121},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5508567690849304},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.5367672443389893},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.49919724464416504},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.4754626154899597},{"id":"https://openalex.org/C62884695","wikidata":"https://www.wikidata.org/wiki/Q184871","display_name":"Euler's formula","level":2,"score":0.4560854136943817},{"id":"https://openalex.org/C204172952","wikidata":"https://www.wikidata.org/wiki/Q6410697","display_name":"Kinematics equations","level":5,"score":0.423710435628891},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.3337400555610657},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3143320679664612},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1704188585281372},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.14128533005714417},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.13850492238998413},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11497360467910767},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10776257514953613},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.09110274910926819},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"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/robot.2003.1242226","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2003.1242226","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.8299999833106995,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":8,"referenced_works":["https://openalex.org/W1886758210","https://openalex.org/W1993713840","https://openalex.org/W2002492977","https://openalex.org/W2009474255","https://openalex.org/W2045663437","https://openalex.org/W2143169357","https://openalex.org/W2150300693","https://openalex.org/W2150371919"],"related_works":["https://openalex.org/W2351331567","https://openalex.org/W2744818472","https://openalex.org/W2607470227","https://openalex.org/W2355512144","https://openalex.org/W2811382984","https://openalex.org/W1969999327","https://openalex.org/W2136233762","https://openalex.org/W2213440246","https://openalex.org/W3030642493","https://openalex.org/W2004793478"],"abstract_inverted_index":{"Recently":[0],"the":[1,9,29,61,68,74,78,81,94,106,112,126,129,132],"parallel":[2,35],"manipulators":[3],"with":[4],"less":[5],"DOF":[6],"have":[7],"attracted":[8],"researchers,":[10],"but":[11],"works":[12],"on":[13],"their":[14],"dynamics":[15],"are":[16,70,87,117],"relative":[17],"few.":[18],"In":[19,99],"this":[20],"paper,":[21],"an":[22,90],"inverse":[23,51],"dynamic":[24,109],"formulation":[25],"is":[26,54,97,102],"presented":[27],"by":[28],"Newton-Euler":[30],"approach":[31],"for":[32,67,111],"a":[33],"spatial":[34],"manipulator,":[36],"which":[37],"has":[38],"two":[39],"translational":[40],"degrees":[41],"of":[42,48,77,131],"freedom":[43],"and":[44,63,80,89,108,125],"one":[45],"rotational":[46],"degree":[47],"freedom.":[49],"The":[50,114],"kinematics":[52],"analysis":[53],"firstly":[55],"performed":[56],"in":[57],"closed":[58],"form.":[59],"Then":[60],"force":[62],"moment":[64],"equilibrium":[65],"equations":[66],"manipulator":[69],"presented.":[71],"According":[72],"to":[73,92,104,119],"kinematic":[75,107],"constraints":[76],"legs":[79],"platform,":[82],"some":[83],"joint":[84],"constraint":[85],"forces":[86,96],"eliminated":[88],"algorithm":[91],"solve":[93],"actuator":[95],"given.":[98],"addition,":[100],"ADAMS":[101],"used":[103],"perform":[105],"simulation":[110,115],"manipulator.":[113],"results":[116],"compared":[118],"those":[120],"derived":[121],"from":[122],"algebraic":[123],"formulae":[124],"comparison":[127],"shows":[128],"validity":[130],"mathematical":[133],"model.":[134]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":3},{"year":2012,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
