{"id":"https://openalex.org/W2888409042","doi":"https://doi.org/10.1109/urai.2018.8441894","title":"Design of a Truss Body Parallel Manipulator to Avoid the Stress Concentration","display_name":"Design of a Truss Body Parallel Manipulator to Avoid the Stress Concentration","publication_year":2018,"publication_date":"2018-06-01","ids":{"openalex":"https://openalex.org/W2888409042","doi":"https://doi.org/10.1109/urai.2018.8441894","mag":"2888409042"},"language":"en","primary_location":{"id":"doi:10.1109/urai.2018.8441894","is_oa":false,"landing_page_url":"https://doi.org/10.1109/urai.2018.8441894","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 15th International Conference on Ubiquitous Robots (UR)","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/A5001156255","display_name":"Byoung Hun Kang","orcid":null},"institutions":[{"id":"https://openalex.org/I1322422313","display_name":"Korea Polytechnic University","ror":"https://ror.org/0060vt104","country_code":"KR","type":"education","lineage":["https://openalex.org/I1322422313"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Byoung Hun Kang","raw_affiliation_strings":["Department of Mechanical Design Engineering, Korea Polytechnic University, Kyunggi-Do, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Design Engineering, Korea Polytechnic University, Kyunggi-Do, Republic of Korea","institution_ids":["https://openalex.org/I1322422313"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056992161","display_name":"Jin Hun Kim","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jin Hun Kim","raw_affiliation_strings":["CEO in Udworks Co., Ltd., Seoul, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"CEO in Udworks Co., Ltd., Seoul, Republic of Korea","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067209248","display_name":"Kwang\u2010Yong Choi","orcid":"https://orcid.org/0000-0001-8213-5395"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kwang Yong Choi","raw_affiliation_strings":["Managing Director in Infobank, Ltd., Seoul, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"Managing Director in Infobank, Ltd., Seoul, Republic of Korea","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5025012457","display_name":"Kwan\u2010Woong Gwak","orcid":"https://orcid.org/0000-0001-9170-3139"},"institutions":[{"id":"https://openalex.org/I28777354","display_name":"Sejong University","ror":"https://ror.org/00aft1q37","country_code":"KR","type":"education","lineage":["https://openalex.org/I28777354"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Kwan-Woong Gwak","raw_affiliation_strings":["Department of Mechanical Engineering, Sejong University, Seoul, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Sejong University, Seoul, Republic of Korea","institution_ids":["https://openalex.org/I28777354"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5001156255"],"corresponding_institution_ids":["https://openalex.org/I1322422313"],"apc_list":null,"apc_paid":null,"fwci":0.1839,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.4939294,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"1","issue":null,"first_page":"604","last_page":"609"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":1.0,"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":1.0,"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":0.9958999752998352,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9930999875068665,"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/truss","display_name":"Truss","score":0.9638241529464722},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.8872909545898438},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6101533770561218},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.6059069633483887},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.5783265233039856},{"id":"https://openalex.org/keywords/base","display_name":"Base (topology)","score":0.5501270890235901},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.49536263942718506},{"id":"https://openalex.org/keywords/optimal-design","display_name":"Optimal design","score":0.4872931241989136},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4748150110244751},{"id":"https://openalex.org/keywords/mobile-manipulator","display_name":"Mobile manipulator","score":0.43162184953689575},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3476791977882385},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.32847222685813904},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.19938135147094727},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1784786880016327},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.09748068451881409},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09384864568710327},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.07254844903945923}],"concepts":[{"id":"https://openalex.org/C173534245","wikidata":"https://www.wikidata.org/wiki/Q1328068","display_name":"Truss","level":2,"score":0.9638241529464722},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.8872909545898438},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6101533770561218},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.6059069633483887},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.5783265233039856},{"id":"https://openalex.org/C42058472","wikidata":"https://www.wikidata.org/wiki/Q810214","display_name":"Base (topology)","level":2,"score":0.5501270890235901},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.49536263942718506},{"id":"https://openalex.org/C186394612","wikidata":"https://www.wikidata.org/wiki/Q7098942","display_name":"Optimal design","level":2,"score":0.4872931241989136},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4748150110244751},{"id":"https://openalex.org/C190727649","wikidata":"https://www.wikidata.org/wiki/Q1941532","display_name":"Mobile manipulator","level":4,"score":0.43162184953689575},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3476791977882385},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.32847222685813904},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.19938135147094727},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1784786880016327},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.09748068451881409},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09384864568710327},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.07254844903945923},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/urai.2018.8441894","is_oa":false,"landing_page_url":"https://doi.org/10.1109/urai.2018.8441894","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 15th International Conference on Ubiquitous Robots (UR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1556304742","https://openalex.org/W1979698798","https://openalex.org/W2003293704","https://openalex.org/W2024148720","https://openalex.org/W2049410986","https://openalex.org/W2072550641","https://openalex.org/W2081518873","https://openalex.org/W2119276016","https://openalex.org/W2126611048","https://openalex.org/W2133932197","https://openalex.org/W2152161206","https://openalex.org/W2160502858","https://openalex.org/W2314534847","https://openalex.org/W6679844328"],"related_works":["https://openalex.org/W2888409042","https://openalex.org/W1997122515","https://openalex.org/W2393977490","https://openalex.org/W2366856298","https://openalex.org/W4234825356","https://openalex.org/W2166323405","https://openalex.org/W2038930466","https://openalex.org/W2376007266","https://openalex.org/W2695075568","https://openalex.org/W2185220635"],"abstract_inverted_index":{"In":[0],"this":[1],"research,":[2],"we":[3],"present":[4],"a":[5,9,14,20,26,38,74],"new":[6],"design":[7],"for":[8],"parallel":[10,66,77,97,107,135],"manipulator":[11,36,57,78,124,136],"which":[12,79],"has":[13,37,80,137],"truss":[15,39,51,75,105,133],"body":[16,76,106,134],"architecture":[17],"to":[18,24,64,72],"sustain":[19,59],"large":[21],"stress":[22,61,127],"and":[23,43,92,117,140],"handle":[25],"heavy":[27],"load.":[28],"Using":[29],"the":[30,34,44,50,87,101,104,110,114,119,122,126,132],"three":[31],"prismatic":[32],"joints,":[33],"proposed":[35,123],"type":[40,52,55],"base":[41],"structure":[42,102],"moving":[45,115],"plate":[46,116],"is":[47,71],"located":[48],"on":[49],"base.":[53],"This":[54],"of":[56,83,89,96,103,113,121,131],"could":[58],"larger":[60],"concentrations":[62],"compared":[63],"conventional":[65],"manipulators.":[67,98],"The":[68],"research":[69],"objective":[70],"develop":[73],"3":[81],"degrees":[82],"freedom":[84],"while":[85],"retaining":[86],"advantages":[88],"high":[90],"stiffness":[91],"compact":[93],"size":[94],"characteristics":[95],"We":[99],"describe":[100],"manipulator,":[108],"including":[109],"kinematic":[111],"characteristic":[112],"analyze":[118],"advantage":[120],"concerning":[125],"concentration.":[128],"A":[129],"prototype":[130],"been":[138],"developed":[139],"tested.":[141]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2020,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
