{"id":"https://openalex.org/W2101764342","doi":"https://doi.org/10.1109/robot.2006.1641863","title":"Fully-isotropic parallel manipulators with five degrees of freedom","display_name":"Fully-isotropic parallel manipulators with five degrees of freedom","publication_year":2006,"publication_date":"2006-07-10","ids":{"openalex":"https://openalex.org/W2101764342","doi":"https://doi.org/10.1109/robot.2006.1641863","mag":"2101764342"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2006.1641863","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2006.1641863","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.","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/A5048360994","display_name":"G. Gogu","orcid":null},"institutions":[{"id":"https://openalex.org/I198244214","display_name":"Universit\u00e9 Clermont Auvergne","ror":"https://ror.org/01a8ajp46","country_code":"FR","type":"education","lineage":["https://openalex.org/I198244214"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"G. Gogu","raw_affiliation_strings":["Mechanical Engineering Research Group, French Institute of Advanced Mechanics, Blaise Pascal University Clermont-Ferrand II, Aubiere, France","Mech. Eng. Res. Group, Univ. Blaise Pascal, Aubiere"],"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Research Group, French Institute of Advanced Mechanics, Blaise Pascal University Clermont-Ferrand II, Aubiere, France","institution_ids":[]},{"raw_affiliation_string":"Mech. Eng. Res. Group, Univ. Blaise Pascal, Aubiere","institution_ids":["https://openalex.org/I198244214"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5048360994"],"corresponding_institution_ids":["https://openalex.org/I198244214"],"apc_list":null,"apc_paid":null,"fwci":4.5483,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.94137036,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"1141","last_page":"1146"},"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9825000166893005,"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/T11525","display_name":"Piezoelectric Actuators and Control","score":0.9775000214576721,"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/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.9246388673782349},{"id":"https://openalex.org/keywords/isotropy","display_name":"Isotropy","score":0.8677144050598145},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.8644903302192688},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.6694526076316833},{"id":"https://openalex.org/keywords/identity-matrix","display_name":"Identity matrix","score":0.6537771224975586},{"id":"https://openalex.org/keywords/type","display_name":"Type (biology)","score":0.46971434354782104},{"id":"https://openalex.org/keywords/matrix","display_name":"Matrix (chemical analysis)","score":0.46950483322143555},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.46193328499794006},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.45709529519081116},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.43110978603363037},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4241606295108795},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.401040256023407},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.3830510973930359},{"id":"https://openalex.org/keywords/eigenvalues-and-eigenvectors","display_name":"Eigenvalues and eigenvectors","score":0.3762117028236389},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3760673403739929},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1953437626361847},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.17116940021514893},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.14173370599746704},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.11796826124191284}],"concepts":[{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.9246388673782349},{"id":"https://openalex.org/C184050105","wikidata":"https://www.wikidata.org/wiki/Q273163","display_name":"Isotropy","level":2,"score":0.8677144050598145},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.8644903302192688},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.6694526076316833},{"id":"https://openalex.org/C134567657","wikidata":"https://www.wikidata.org/wiki/Q193794","display_name":"Identity matrix","level":3,"score":0.6537771224975586},{"id":"https://openalex.org/C2777299769","wikidata":"https://www.wikidata.org/wiki/Q3707858","display_name":"Type (biology)","level":2,"score":0.46971434354782104},{"id":"https://openalex.org/C106487976","wikidata":"https://www.wikidata.org/wiki/Q685816","display_name":"Matrix (chemical analysis)","level":2,"score":0.46950483322143555},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.46193328499794006},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.45709529519081116},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.43110978603363037},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4241606295108795},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.401040256023407},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.3830510973930359},{"id":"https://openalex.org/C158693339","wikidata":"https://www.wikidata.org/wiki/Q190524","display_name":"Eigenvalues and eigenvectors","level":2,"score":0.3762117028236389},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3760673403739929},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1953437626361847},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.17116940021514893},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.14173370599746704},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.11796826124191284},{"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/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.0},{"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/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2006.1641863","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2006.1641863","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.","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":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W55022225","https://openalex.org/W1526117436","https://openalex.org/W1981338117","https://openalex.org/W1983996098","https://openalex.org/W2014374061","https://openalex.org/W2067603569","https://openalex.org/W2082995859","https://openalex.org/W2085545845","https://openalex.org/W2085851553","https://openalex.org/W2087718605","https://openalex.org/W2105464933","https://openalex.org/W2117986791","https://openalex.org/W2136435475","https://openalex.org/W2148735693","https://openalex.org/W4237138202"],"related_works":["https://openalex.org/W1679399962","https://openalex.org/W2353085251","https://openalex.org/W2362652060","https://openalex.org/W2357403317","https://openalex.org/W2066019639","https://openalex.org/W2394251694","https://openalex.org/W2026756596","https://openalex.org/W1917399524","https://openalex.org/W1901106430","https://openalex.org/W2132859693"],"abstract_inverted_index":{"The":[0,13,62,87],"paper":[1,77,121],"presents":[2,122],"fully-isotropic":[3,33,71,132],"parallel":[4],"manipulators":[5],"(PMs)":[6],"with":[7,106,134],"five":[8,135],"degrees":[9,136],"of":[10,32,40,58,70,93,131,137],"freedom":[11,138],"T3R2-type.":[12],"mobile":[14],"platform":[15],"has":[16],"three":[17],"independent":[18],"translations":[19],"(T3)":[20],"and":[21,53,90,110],"two":[22,67],"rotations":[23],"(R2).":[24],"A":[25,43],"method":[26],"is":[27,78],"proposed":[28],"for":[29,123],"structural":[30],"synthesis":[31],"T3R2-type":[34,72],"PMs":[35,73,133],"based":[36],"on":[37],"the":[38,48,54,59,66,79,84,91,94,101,124,128],"theory":[39],"linear":[41],"transformations.":[42],"one-to-one":[44],"correspondence":[45],"exists":[46],"between":[47],"actuated":[49],"joint":[50],"velocity":[51,56],"space":[52,57],"external":[55],"moving":[60],"platform.":[61],"Jacobian":[63,95],"matrix":[64,82,96],"mapping":[65],"vector":[68],"spaces":[69],"presented":[74],"in":[75,127],"this":[76,120],"identity":[80],"5times5":[81],"throughout":[83],"entire":[85],"workspace.":[86],"condition":[88],"number":[89],"determinant":[92],"being":[97],"equal":[98],"to":[99,108],"one,":[100],"manipulator":[102],"performs":[103],"very":[104],"well":[105],"regard":[107],"force":[109],"motion":[111],"transmission":[112],"capabilities.":[113],"As":[114],"far":[115],"as":[116],"we":[117],"are":[118],"aware,":[119],"first":[125],"time":[126],"literature":[129],"solutions":[130]},"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}