{"id":"https://openalex.org/W2965866865","doi":"https://doi.org/10.1109/urai.2019.8768593","title":"Design and Development of a Portable Machining Robot with Parallel Kinematics","display_name":"Design and Development of a Portable Machining Robot with Parallel Kinematics","publication_year":2019,"publication_date":"2019-06-01","ids":{"openalex":"https://openalex.org/W2965866865","doi":"https://doi.org/10.1109/urai.2019.8768593","mag":"2965866865"},"language":"en","primary_location":{"id":"doi:10.1109/urai.2019.8768593","is_oa":false,"landing_page_url":"https://doi.org/10.1109/urai.2019.8768593","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 16th 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/A5006520303","display_name":"Xin-Jun Liu","orcid":"https://orcid.org/0000-0001-8252-8367"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xin-Jun Liu","raw_affiliation_strings":["Beijing Key Lab of Precision/Ultra-precision Manufacturing Equipments and Control, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Beijing Key Lab of Precision/Ultra-precision Manufacturing Equipments and Control, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027722264","display_name":"Zenghui Xie","orcid":"https://orcid.org/0000-0002-9312-121X"},"institutions":[{"id":"https://openalex.org/I51629411","display_name":"Siemens (China)","ror":"https://ror.org/00v6g9845","country_code":"CN","type":"company","lineage":["https://openalex.org/I1325886976","https://openalex.org/I51629411"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zenghui Xie","raw_affiliation_strings":["State Key Laboratory of Tribology & Tsinghua University (DME)-Siemens Joint Research Center for Advanced Robotics, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Tribology & Tsinghua University (DME)-Siemens Joint Research Center for Advanced Robotics, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089","https://openalex.org/I51629411"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068499629","display_name":"Fugui Xie","orcid":"https://orcid.org/0000-0001-7049-2010"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fugui Xie","raw_affiliation_strings":["Beijing Key Lab of Precision/Ultra-precision Manufacturing Equipments and Control, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Beijing Key Lab of Precision/Ultra-precision Manufacturing Equipments and Control, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100639866","display_name":"Jinsong Wang","orcid":"https://orcid.org/0000-0002-1010-6699"},"institutions":[{"id":"https://openalex.org/I51629411","display_name":"Siemens (China)","ror":"https://ror.org/00v6g9845","country_code":"CN","type":"company","lineage":["https://openalex.org/I1325886976","https://openalex.org/I51629411"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jinsong Wang","raw_affiliation_strings":["State Key Laboratory of Tribology & Tsinghua University (DME)-Siemens Joint Research Center for Advanced Robotics, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Tribology & Tsinghua University (DME)-Siemens Joint Research Center for Advanced Robotics, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089","https://openalex.org/I51629411"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5006520303"],"corresponding_institution_ids":["https://openalex.org/I99065089"],"apc_list":null,"apc_paid":null,"fwci":0.8316,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.7360921,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"133","last_page":"136"},"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/T11525","display_name":"Piezoelectric Actuators and Control","score":0.9896000027656555,"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/T11301","display_name":"Advanced Surface Polishing Techniques","score":0.9886999726295471,"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/revolute-joint","display_name":"Revolute joint","score":0.8351767063140869},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7828084230422974},{"id":"https://openalex.org/keywords/machining","display_name":"Machining","score":0.715340256690979},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.5491573214530945},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5356032252311707},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.5202211737632751},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5148014426231384},{"id":"https://openalex.org/keywords/universal-joint","display_name":"Universal joint","score":0.47968220710754395},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.4667627513408661},{"id":"https://openalex.org/keywords/development","display_name":"Development (topology)","score":0.4534785747528076},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.4429120421409607},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.4317898452281952},{"id":"https://openalex.org/keywords/screw-theory","display_name":"Screw theory","score":0.42117840051651},{"id":"https://openalex.org/keywords/line","display_name":"Line (geometry)","score":0.4187674820423126},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.37968674302101135},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3711916208267212},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.3563125729560852},{"id":"https://openalex.org/keywords/engineering-drawing","display_name":"Engineering drawing","score":0.3295019268989563},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.24168282747268677},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20317047834396362},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.19404888153076172},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14070963859558105},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08769384026527405}],"concepts":[{"id":"https://openalex.org/C5643039","wikidata":"https://www.wikidata.org/wiki/Q3819341","display_name":"Revolute joint","level":3,"score":0.8351767063140869},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7828084230422974},{"id":"https://openalex.org/C523214423","wikidata":"https://www.wikidata.org/wiki/Q192047","display_name":"Machining","level":2,"score":0.715340256690979},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.5491573214530945},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5356032252311707},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.5202211737632751},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5148014426231384},{"id":"https://openalex.org/C63316402","wikidata":"https://www.wikidata.org/wiki/Q862003","display_name":"Universal joint","level":2,"score":0.47968220710754395},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.4667627513408661},{"id":"https://openalex.org/C2776542497","wikidata":"https://www.wikidata.org/wiki/Q5266672","display_name":"Development (topology)","level":2,"score":0.4534785747528076},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.4429120421409607},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.4317898452281952},{"id":"https://openalex.org/C18788176","wikidata":"https://www.wikidata.org/wiki/Q7891441","display_name":"Screw theory","level":3,"score":0.42117840051651},{"id":"https://openalex.org/C198352243","wikidata":"https://www.wikidata.org/wiki/Q37105","display_name":"Line (geometry)","level":2,"score":0.4187674820423126},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.37968674302101135},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3711916208267212},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.3563125729560852},{"id":"https://openalex.org/C199639397","wikidata":"https://www.wikidata.org/wiki/Q1788588","display_name":"Engineering drawing","level":1,"score":0.3295019268989563},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.24168282747268677},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20317047834396362},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.19404888153076172},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14070963859558105},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08769384026527405},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/urai.2019.8768593","is_oa":false,"landing_page_url":"https://doi.org/10.1109/urai.2019.8768593","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 16th International Conference on Ubiquitous Robots (UR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.4300000071525574,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1981752723","https://openalex.org/W1986516966","https://openalex.org/W2027486737","https://openalex.org/W2060524842","https://openalex.org/W2074747650","https://openalex.org/W2076941482","https://openalex.org/W2088360317","https://openalex.org/W2321501099","https://openalex.org/W2528510478","https://openalex.org/W2735544640","https://openalex.org/W2758823314","https://openalex.org/W2764146778","https://openalex.org/W2800213350","https://openalex.org/W2896068845","https://openalex.org/W2900883335","https://openalex.org/W2913835166","https://openalex.org/W2923376692"],"related_works":["https://openalex.org/W4388343518","https://openalex.org/W2378875176","https://openalex.org/W1996977285","https://openalex.org/W96871061","https://openalex.org/W3148970067","https://openalex.org/W2103961931","https://openalex.org/W4293054431","https://openalex.org/W2350212937","https://openalex.org/W2363475755","https://openalex.org/W3005451097"],"abstract_inverted_index":{"In":[0],"order":[1],"to":[2,32],"achieve":[3],"the":[4,12,33,43,63,86],"mobile":[5],"processing":[6],"of":[7,15,36,45],"large":[8],"structural":[9],"components":[10],"or":[11],"remote":[13],"maintenance":[14],"large-scale":[16],"equipment,":[17],"a":[18,39],"compact":[19],"and":[20,29,72,82,97,101],"portable":[21],"parallel":[22,40],"machining":[23],"robot":[24,87],"named":[25],"DiaRoM":[26,91],"is":[27,59],"designed":[28],"developed.":[30],"According":[31],"required":[34],"degrees":[35],"freedom":[37],"(DoFs),":[38],"mechanism":[41],"with":[42],"configuration":[44],"4SPU-SPR":[46],"(S,":[47],"spherical":[48],"joint;":[49,52,55],"P,":[50],"prismatic":[51],"U,":[53],"universal":[54],"R,":[56],"revolute":[57],"joint)":[58],"proposed":[60],"by":[61],"using":[62],"type":[64],"synthesis":[65],"method":[66],"based":[67],"on":[68],"Grassmann":[69],"Line":[70],"Geometry":[71],"Line-graphs.":[73],"The":[74,90],"kinematic":[75],"optimization,":[76],"driving":[77],"system":[78],"parameter":[79],"optimization":[80],"(DSPO)":[81],"prototype":[83,92],"development":[84],"for":[85],"are":[88],"presented.":[89],"can":[93],"converse":[94],"between":[95],"horizontal":[96],"vertical":[98],"working":[99],"modes":[100],"realize":[102],"flexible":[103],"5-axis":[104],"machining.":[105]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}