{"id":"https://openalex.org/W2142812804","doi":"https://doi.org/10.1109/tra.2002.1019472","title":"Eclipse II: a new parallel mechanism enabling continuous 360-degree spinning plus three-axis translational motions","display_name":"Eclipse II: a new parallel mechanism enabling continuous 360-degree spinning plus three-axis translational motions","publication_year":2002,"publication_date":"2002-06-01","ids":{"openalex":"https://openalex.org/W2142812804","doi":"https://doi.org/10.1109/tra.2002.1019472","mag":"2142812804"},"language":"en","primary_location":{"id":"doi:10.1109/tra.2002.1019472","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tra.2002.1019472","pdf_url":null,"source":{"id":"https://openalex.org/S116420536","display_name":"IEEE Transactions on Robotics and Automation","issn_l":"1042-296X","issn":["1042-296X","2374-958X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics and Automation","raw_type":"journal-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/A5100356559","display_name":"Jongwon Kim","orcid":"https://orcid.org/0000-0003-2519-6890"},"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":true,"raw_author_name":"Jongwon Kim","raw_affiliation_strings":["School of Mechanical and AeroSpace Engineering, Seoul National University, Seoul, South Korea","[Sch. of Mech. & Aerosp. Eng., Seoul Nat. Univ., South Korea]"],"affiliations":[{"raw_affiliation_string":"School of Mechanical and AeroSpace Engineering, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]},{"raw_affiliation_string":"[Sch. of Mech. & Aerosp. Eng., Seoul Nat. Univ., South Korea]","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101888473","display_name":"Jae Chul Hwang","orcid":"https://orcid.org/0000-0003-1407-2761"},"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":"Jae Chul Hwang","raw_affiliation_strings":["School of Mechanical and AeroSpace Engineering, Seoul National University, Seoul, South Korea","[Sch. of Mech. & Aerosp. Eng., Seoul Nat. Univ., South Korea]"],"affiliations":[{"raw_affiliation_string":"School of Mechanical and AeroSpace Engineering, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]},{"raw_affiliation_string":"[Sch. of Mech. & Aerosp. Eng., Seoul Nat. Univ., South Korea]","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100706223","display_name":"Jin Sung Kim","orcid":null},"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":"Jin Sung Kim","raw_affiliation_strings":["School of Mechanical and AeroSpace Engineering, Seoul National University, Seoul, South Korea","[Sch. of Mech. & Aerosp. Eng., Seoul Nat. Univ., South Korea]"],"affiliations":[{"raw_affiliation_string":"School of Mechanical and AeroSpace Engineering, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]},{"raw_affiliation_string":"[Sch. of Mech. & Aerosp. Eng., Seoul Nat. Univ., South Korea]","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109846164","display_name":"C.C. Iurascu","orcid":null},"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":"C.C. Iurascu","raw_affiliation_strings":["School of Mechanical and AeroSpace Engineering, Seoul National University, Seoul, South Korea","[Sch. of Mech. & Aerosp. Eng., Seoul Nat. Univ., South Korea]"],"affiliations":[{"raw_affiliation_string":"School of Mechanical and AeroSpace Engineering, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]},{"raw_affiliation_string":"[Sch. of Mech. & Aerosp. Eng., Seoul Nat. Univ., South Korea]","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009036246","display_name":"Frank C. Park","orcid":"https://orcid.org/0000-0002-0293-6975"},"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":"Frank Chongwoo Park","raw_affiliation_strings":["School of Mechanical and AeroSpace Engineering, Seoul National University, Seoul, South Korea","[Sch. of Mech. & Aerosp. Eng., Seoul Nat. Univ., South Korea]"],"affiliations":[{"raw_affiliation_string":"School of Mechanical and AeroSpace Engineering, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]},{"raw_affiliation_string":"[Sch. of Mech. & Aerosp. Eng., Seoul Nat. Univ., South Korea]","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103536908","display_name":"Young Man Cho","orcid":null},"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":"Young Man Cho","raw_affiliation_strings":["School of Mechanical and AeroSpace Engineering, Seoul National University, Seoul, South Korea","[Sch. of Mech. & Aerosp. Eng., Seoul Nat. Univ., South Korea]"],"affiliations":[{"raw_affiliation_string":"School of Mechanical and AeroSpace Engineering, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]},{"raw_affiliation_string":"[Sch. of Mech. & Aerosp. Eng., Seoul Nat. Univ., South Korea]","institution_ids":["https://openalex.org/I139264467"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5100356559"],"corresponding_institution_ids":["https://openalex.org/I139264467"],"apc_list":null,"apc_paid":null,"fwci":7.5833,"has_fulltext":false,"cited_by_count":95,"citation_normalized_percentile":{"value":0.97506498,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"18","issue":"3","first_page":"367","last_page":"373"},"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/T11749","display_name":"Iterative Learning Control Systems","score":0.9908000230789185,"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/T13752","display_name":"Mechanics and Biomechanics Studies","score":0.988099992275238,"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/singularity","display_name":"Singularity","score":0.816878616809845},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.7549639940261841},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6132116913795471},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.557280421257019},{"id":"https://openalex.org/keywords/spinning","display_name":"Spinning","score":0.5501105785369873},{"id":"https://openalex.org/keywords/eclipse","display_name":"Eclipse","score":0.5281187295913696},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5278354287147522},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4623616337776184},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.3707852363586426},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.35852107405662537},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.33209294080734253},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.2914184629917145},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.25539717078208923},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.1671690046787262},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1582900583744049},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1162160336971283}],"concepts":[{"id":"https://openalex.org/C16171025","wikidata":"https://www.wikidata.org/wiki/Q863349","display_name":"Singularity","level":2,"score":0.816878616809845},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.7549639940261841},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6132116913795471},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.557280421257019},{"id":"https://openalex.org/C154815118","wikidata":"https://www.wikidata.org/wiki/Q453762","display_name":"Spinning","level":2,"score":0.5501105785369873},{"id":"https://openalex.org/C2778505590","wikidata":"https://www.wikidata.org/wiki/Q141022","display_name":"Eclipse","level":2,"score":0.5281187295913696},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5278354287147522},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4623616337776184},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.3707852363586426},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.35852107405662537},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.33209294080734253},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.2914184629917145},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.25539717078208923},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.1671690046787262},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1582900583744049},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1162160336971283},{"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/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tra.2002.1019472","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tra.2002.1019472","pdf_url":null,"source":{"id":"https://openalex.org/S116420536","display_name":"IEEE Transactions on Robotics and Automation","issn_l":"1042-296X","issn":["1042-296X","2374-958X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics and Automation","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.8199999928474426}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W65486364","https://openalex.org/W95541358","https://openalex.org/W1555993017","https://openalex.org/W1568183550","https://openalex.org/W1602593607","https://openalex.org/W1949809561","https://openalex.org/W2003293704","https://openalex.org/W2012615791","https://openalex.org/W2063434840","https://openalex.org/W2077129956","https://openalex.org/W2110647104","https://openalex.org/W2119276016","https://openalex.org/W2124860692","https://openalex.org/W2341668857","https://openalex.org/W3097169496","https://openalex.org/W4256526535"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2371519816","https://openalex.org/W2043154226","https://openalex.org/W2369529107","https://openalex.org/W38056103","https://openalex.org/W2109948066","https://openalex.org/W2329043542","https://openalex.org/W1992269689","https://openalex.org/W2090392331","https://openalex.org/W3122438115"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"the":[3,45,54,59,63,69,73,80,96,106],"Eclipse":[4,23,70],"II,":[5],"a":[6,16],"new":[7],"six-degrees-of-freedom":[8],"parallel":[9],"mechanism,":[10],"which":[11],"can":[12],"be":[13],"used":[14],"as":[15],"basis":[17],"for":[18,62,79],"general":[19],"motion":[20],"simulators.":[21],"The":[22],"II":[24],"is":[25,77],"capable":[26],"of":[27,47,53,68,83,103],"x,":[28],"y,":[29],"and":[30,34,37,65,86],"z":[31],"axes":[32,39],"translations,":[33],"a,":[35],"b,":[36],"c":[38],"rotations.":[40],"In":[41],"particular,":[42],"it":[43],"has":[44],"advantage":[46],"enabling":[48],"continuous":[49],"360/spl":[50],"deg/":[51],"spinning":[52],"platform.":[55],"We":[56],"first":[57],"describe":[58],"computational":[60],"procedures":[61],"forward":[64],"inverse":[66],"kinematics":[67],"II.":[71],"Next,":[72],"complete":[74],"singularity":[75,85,104],"analysis":[76],"presented":[78],"two":[81,90],"cases":[82],"end-effector":[84],"actuator":[87],"singularity.":[88],"Finally,":[89],"additional":[91],"actuators":[92],"are":[93],"added":[94],"to":[95,99],"original":[97],"mechanism":[98],"eliminate":[100],"both":[101],"types":[102],"within":[105],"workspace.":[107]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":6},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":7},{"year":2014,"cited_by_count":5},{"year":2013,"cited_by_count":6},{"year":2012,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
