{"id":"https://openalex.org/W2133405503","doi":"https://doi.org/10.1109/robot.2005.1570561","title":"Kinematics and Dexterity Analysis for a Novel 3-DOF Translational Parallel Manipulator","display_name":"Kinematics and Dexterity Analysis for a Novel 3-DOF Translational Parallel Manipulator","publication_year":2006,"publication_date":"2006-01-18","ids":{"openalex":"https://openalex.org/W2133405503","doi":"https://doi.org/10.1109/robot.2005.1570561","mag":"2133405503"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2005.1570561","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2005.1570561","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/A5027712402","display_name":"Yangmin Li","orcid":"https://orcid.org/0000-0002-4448-3310"},"institutions":[{"id":"https://openalex.org/I204512498","display_name":"University of Macau","ror":"https://ror.org/01r4q9n85","country_code":"MO","type":"education","lineage":["https://openalex.org/I204512498"]}],"countries":["MO"],"is_corresponding":true,"raw_author_name":"Yangmin Li","raw_affiliation_strings":["Department of Electromechanical Engineering, Faculty of Science and Technology, University of Macau, Taipa, Macao, China","Department of Electromechanical Engineering, Faculty of Science and Technology, University of Macau, Av. Padre Tom\u00e1s Pereira S.J., Taipa, Macao SAR, P. R. China. ymli@umac.mo, ya47401@umac.mo"],"affiliations":[{"raw_affiliation_string":"Department of Electromechanical Engineering, Faculty of Science and Technology, University of Macau, Taipa, Macao, China","institution_ids":["https://openalex.org/I204512498"]},{"raw_affiliation_string":"Department of Electromechanical Engineering, Faculty of Science and Technology, University of Macau, Av. Padre Tom\u00e1s Pereira S.J., Taipa, Macao SAR, P. R. China. ymli@umac.mo, ya47401@umac.mo","institution_ids":["https://openalex.org/I204512498"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100763750","display_name":"Qingsong Xu","orcid":"https://orcid.org/0000-0002-1700-322X"},"institutions":[{"id":"https://openalex.org/I204512498","display_name":"University of Macau","ror":"https://ror.org/01r4q9n85","country_code":"MO","type":"education","lineage":["https://openalex.org/I204512498"]}],"countries":["MO"],"is_corresponding":false,"raw_author_name":"Qingsong Xu","raw_affiliation_strings":["Department of Electromechanical Engineering, Faculty of Science and Technology, University of Macau, Taipa, Macao, China","ymli@umac.mo,ya47401@umac.mo"],"affiliations":[{"raw_affiliation_string":"Department of Electromechanical Engineering, Faculty of Science and Technology, University of Macau, Taipa, Macao, China","institution_ids":["https://openalex.org/I204512498"]},{"raw_affiliation_string":"ymli@umac.mo,ya47401@umac.mo","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5027712402"],"corresponding_institution_ids":["https://openalex.org/I204512498"],"apc_list":null,"apc_paid":null,"fwci":10.0923,"has_fulltext":false,"cited_by_count":38,"citation_normalized_percentile":{"value":0.97897121,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"2944","last_page":"2949"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9997000098228455,"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":0.9997000098228455,"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":0.989300012588501,"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/T11525","display_name":"Piezoelectric Actuators and Control","score":0.9884999990463257,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.8794888257980347},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.8244169354438782},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.8156023025512695},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.7205373048782349},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.6795629858970642},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6381682753562927},{"id":"https://openalex.org/keywords/screw-theory","display_name":"Screw theory","score":0.579574465751648},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.552895724773407},{"id":"https://openalex.org/keywords/singularity","display_name":"Singularity","score":0.547530472278595},{"id":"https://openalex.org/keywords/kinematics-equations","display_name":"Kinematics equations","score":0.5354722738265991},{"id":"https://openalex.org/keywords/forward-kinematics","display_name":"Forward kinematics","score":0.5128481984138489},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.472355455160141},{"id":"https://openalex.org/keywords/mobile-manipulator","display_name":"Mobile manipulator","score":0.4121352434158325},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.3521517515182495},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2906540036201477},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.22112378478050232},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15189790725708008},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.13934993743896484},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12245234847068787},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1141701340675354},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.08019763231277466},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.0604763925075531}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.8794888257980347},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.8244169354438782},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.8156023025512695},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7205373048782349},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.6795629858970642},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6381682753562927},{"id":"https://openalex.org/C18788176","wikidata":"https://www.wikidata.org/wiki/Q7891441","display_name":"Screw theory","level":3,"score":0.579574465751648},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.552895724773407},{"id":"https://openalex.org/C16171025","wikidata":"https://www.wikidata.org/wiki/Q863349","display_name":"Singularity","level":2,"score":0.547530472278595},{"id":"https://openalex.org/C204172952","wikidata":"https://www.wikidata.org/wiki/Q6410697","display_name":"Kinematics equations","level":5,"score":0.5354722738265991},{"id":"https://openalex.org/C160970401","wikidata":"https://www.wikidata.org/wiki/Q1423222","display_name":"Forward kinematics","level":4,"score":0.5128481984138489},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.472355455160141},{"id":"https://openalex.org/C190727649","wikidata":"https://www.wikidata.org/wiki/Q1941532","display_name":"Mobile manipulator","level":4,"score":0.4121352434158325},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.3521517515182495},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2906540036201477},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.22112378478050232},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15189790725708008},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.13934993743896484},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12245234847068787},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1141701340675354},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.08019763231277466},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0604763925075531}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robot.2005.1570561","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2005.1570561","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"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.713.5232","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.713.5232","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cis.umac.mo/%7Eyangmin/conferencepdf/C05-1-Li-Xu-Icra.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.8100000023841858,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320322841","display_name":"Universidade de Macau","ror":"https://ror.org/01r4q9n85"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1976359904","https://openalex.org/W1981338117","https://openalex.org/W2013905571","https://openalex.org/W2049410986","https://openalex.org/W2070917084","https://openalex.org/W2085545845","https://openalex.org/W2127251785","https://openalex.org/W2133037307","https://openalex.org/W2134768705","https://openalex.org/W2146734938","https://openalex.org/W2186725032","https://openalex.org/W2341668857","https://openalex.org/W3116528885","https://openalex.org/W4256526535","https://openalex.org/W4285719527","https://openalex.org/W6686839639","https://openalex.org/W6788035510"],"related_works":["https://openalex.org/W2138377666","https://openalex.org/W2154335066","https://openalex.org/W2112869933","https://openalex.org/W2054430081","https://openalex.org/W2385715668","https://openalex.org/W2365938927","https://openalex.org/W2810079597","https://openalex.org/W2907493328","https://openalex.org/W2358471052","https://openalex.org/W2359136437"],"abstract_inverted_index":{"A":[0],"new":[1],"three":[2],"degrees":[3],"of":[4,25,60,73,125],"freedom":[5],"translational":[6],"parallel":[7],"manipulator":[8,27,75,86],"(TPM)":[9],"with":[10,93],"fixed":[11],"actuators,":[12],"called":[13],"a":[14,55,90,94,126],"general":[15,56,127],"3-PRC":[16,57,128],"TPM,":[17],"is":[18,28,76,82,104],"proposed":[19],"in":[20,87,106],"this":[21],"paper.":[22],"The":[23,33],"mobility":[24],"the":[26,44,64,70,74,85,101,107,121],"analyzed":[29],"via":[30],"screw":[31],"theory.":[32],"inverse":[34],"kinematics,":[35,37],"forward":[36],"and":[38,43,78],"velocity":[39],"analysis":[40],"are":[41,47,130],"performed":[42],"singularity":[45],"problems":[46],"investigated":[48,105],"afterwards,":[49],"which":[50],"can":[51],"be":[52,118],"applied":[53],"to":[54],"TPM":[58,129],"regardless":[59],"actuators":[61,67,122],"arrangement.":[62],"With":[63],"variation":[65],"on":[66],"layout":[68,123],"angle,":[69],"reachable":[71],"workspace":[72,92],"generated":[77],"compared.":[79],"Especially,":[80],"it":[81],"illustrated":[83],"that":[84,113],"principle":[88],"possesses":[89],"uniform":[91],"constant":[95],"hexagon":[96],"shape":[97],"cross":[98],"section.":[99],"Furthermore,":[100],"dexterity":[102],"characteristics":[103],"global":[108],"sense.":[109],"Simulation":[110],"results":[111],"show":[112],"different":[114],"specific":[115],"tasks":[116],"should":[117],"considered":[119],"when":[120],"angles":[124],"designed.":[131]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":4},{"year":2014,"cited_by_count":1}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}