{"id":"https://openalex.org/W2169513988","doi":"https://doi.org/10.1109/robot.2005.1570182","title":"Design of a Reconfigurable Robot Arm for Assembly Operations inside an Aircraft Wing-Box","display_name":"Design of a Reconfigurable Robot Arm for Assembly Operations inside an Aircraft Wing-Box","publication_year":2006,"publication_date":"2006-01-18","ids":{"openalex":"https://openalex.org/W2169513988","doi":"https://doi.org/10.1109/robot.2005.1570182","mag":"2169513988"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2005.1570182","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2005.1570182","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","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/A5111973077","display_name":"B. Roy","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"B. Roy","raw_affiliation_strings":["D'Arbeloff Laboratory for Information Systems and Technology, Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA"],"affiliations":[{"raw_affiliation_string":"D'Arbeloff Laboratory for Information Systems and Technology, Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5052171167","display_name":"H. Harry Asada","orcid":"https://orcid.org/0000-0003-3155-6223"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"H.H. Asada","raw_affiliation_strings":["D'Arbeloff Laboratory for Information Systems and Technology, Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA"],"affiliations":[{"raw_affiliation_string":"D'Arbeloff Laboratory for Information Systems and Technology, Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5111973077"],"corresponding_institution_ids":["https://openalex.org/I63966007"],"apc_list":null,"apc_paid":null,"fwci":3.4319,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.92060719,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"4763","issue":null,"first_page":"590","last_page":"595"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9995999932289124,"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":0.9995999932289124,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9908000230789185,"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/T11737","display_name":"Advanced Materials and Mechanics","score":0.9606999754905701,"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/actuator","display_name":"Actuator","score":0.7532613277435303},{"id":"https://openalex.org/keywords/control-reconfiguration","display_name":"Control reconfiguration","score":0.7151930928230286},{"id":"https://openalex.org/keywords/payload","display_name":"Payload (computing)","score":0.6299020051956177},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5770789980888367},{"id":"https://openalex.org/keywords/wing","display_name":"Wing","score":0.5352746844291687},{"id":"https://openalex.org/keywords/displacement","display_name":"Displacement (psychology)","score":0.4799371361732483},{"id":"https://openalex.org/keywords/sma*","display_name":"SMA*","score":0.4760670065879822},{"id":"https://openalex.org/keywords/clamping","display_name":"Clamping","score":0.45161911845207214},{"id":"https://openalex.org/keywords/shape-memory-alloy","display_name":"Shape-memory alloy","score":0.44546616077423096},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4392302930355072},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.4303678274154663},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.40389448404312134},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.3385367691516876},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.32695168256759644},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.18183982372283936},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.11250197887420654}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7532613277435303},{"id":"https://openalex.org/C119701452","wikidata":"https://www.wikidata.org/wiki/Q5165881","display_name":"Control reconfiguration","level":2,"score":0.7151930928230286},{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.6299020051956177},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5770789980888367},{"id":"https://openalex.org/C97257150","wikidata":"https://www.wikidata.org/wiki/Q161358","display_name":"Wing","level":2,"score":0.5352746844291687},{"id":"https://openalex.org/C107551265","wikidata":"https://www.wikidata.org/wiki/Q1458245","display_name":"Displacement (psychology)","level":2,"score":0.4799371361732483},{"id":"https://openalex.org/C161921814","wikidata":"https://www.wikidata.org/wiki/Q493743","display_name":"SMA*","level":2,"score":0.4760670065879822},{"id":"https://openalex.org/C84111939","wikidata":"https://www.wikidata.org/wiki/Q5125465","display_name":"Clamping","level":2,"score":0.45161911845207214},{"id":"https://openalex.org/C49097943","wikidata":"https://www.wikidata.org/wiki/Q898455","display_name":"Shape-memory alloy","level":2,"score":0.44546616077423096},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4392302930355072},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.4303678274154663},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.40389448404312134},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.3385367691516876},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.32695168256759644},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.18183982372283936},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.11250197887420654},{"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/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.0},{"id":"https://openalex.org/C542102704","wikidata":"https://www.wikidata.org/wiki/Q183257","display_name":"Psychotherapist","level":1,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0},{"id":"https://openalex.org/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2005.1570182","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2005.1570182","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8100000023841858,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":5,"referenced_works":["https://openalex.org/W1878393429","https://openalex.org/W1974929319","https://openalex.org/W2089792178","https://openalex.org/W2091910104","https://openalex.org/W2100058787"],"related_works":["https://openalex.org/W2047192493","https://openalex.org/W2174558087","https://openalex.org/W3216900515","https://openalex.org/W2375323968","https://openalex.org/W2365637644","https://openalex.org/W4232260776","https://openalex.org/W3139069345","https://openalex.org/W2070688558","https://openalex.org/W820893600","https://openalex.org/W2241101419"],"abstract_inverted_index":{"We":[0,84,139],"present":[1],"a":[2,10,23,60,118,142],"design":[3,106],"concept":[4],"and":[5,50,80,157],"two":[6],"initial":[7],"prototypes":[8],"of":[9,53,62,77,111,114,135],"robot":[11,137,147],"arm":[12,38],"for":[13,73,98,145],"assembly":[14,63,168],"operations":[15],"inside":[16,65,170],"an":[17,86],"aircraft":[18],"wing-box.":[19,67,172],"The":[20,37],"wing-box":[21,45],"has":[22],"large":[24,81],"span,":[25],"but":[26],"is":[27,39,51],"only":[28],"accessible":[29],"through":[30,46,117],"multiple":[31],"small":[32,48],"portholes":[33,49],"along":[34],"its":[35],"length.":[36],"compact":[40],"enough":[41],"to":[42,58,102,160],"enter":[43],"the":[44,47,66,109,133,136,146,154,162,166,171],"capable":[52],"subsequent":[54],"reconfiguration":[55,155],"so":[56],"as":[57],"access":[59],"number":[61],"points":[64,169],"Traditional":[68],"electromechanical":[69],"actuators":[70],"are":[71,96],"unsuitable":[72],"our":[74],"purpose,":[75],"because":[76],"limited":[78,112],"space":[79],"payload":[82],"requirements.":[83],"use":[85],"actuator":[87,126],"module":[88,127],"comprising":[89],"Shape":[90],"Memory":[91],"Alloy":[92],"(SMA)":[93],"wires,":[94],"which":[95,149],"known":[97],"their":[99],"high":[100,124],"stress":[101],"volume":[103],"ratio.":[104],"Our":[105,122],"also":[107,140,158],"addresses":[108],"issue":[110],"strain":[113],"SMA":[115],"wires":[116],"displacement":[119,125],"amplification":[120],"mechanism.":[121],"compact,":[123],"can":[128],"be":[129],"readily":[130],"integrated":[131],"into":[132],"structure":[134],"arm.":[138],"discuss":[141],"deployment":[143],"scheme":[144],"arm,":[148],"eliminates":[150],"gravity":[151],"loading":[152],"during":[153],"phase,":[156],"helps":[159],"position":[161],"end":[163],"effecter":[164],"at":[165],"various":[167]},"counts_by_year":[{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
