{"id":"https://openalex.org/W2987656483","doi":"https://doi.org/10.1115/1.4045409","title":"Dynamic Performance Optimization of a Novel 8-SPU Parallel Walking Mechanism","display_name":"Dynamic Performance Optimization of a Novel 8-SPU Parallel Walking Mechanism","publication_year":2019,"publication_date":"2019-11-06","ids":{"openalex":"https://openalex.org/W2987656483","doi":"https://doi.org/10.1115/1.4045409","mag":"2987656483"},"language":"en","primary_location":{"id":"doi:10.1115/1.4045409","is_oa":false,"landing_page_url":"https://doi.org/10.1115/1.4045409","pdf_url":null,"source":{"id":"https://openalex.org/S173178594","display_name":"Journal of Computing and Information Science in Engineering","issn_l":"1530-9827","issn":["1530-9827","1944-7078"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310316053","host_organization_name":"ASM International","host_organization_lineage":["https://openalex.org/P4310316053"],"host_organization_lineage_names":["ASM International"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Computing and Information Science in Engineering","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/A5110782200","display_name":"Xiaojin Wan","orcid":null},"institutions":[{"id":"https://openalex.org/I196699116","display_name":"Wuhan University of Technology","ror":"https://ror.org/03fe7t173","country_code":"CN","type":"education","lineage":["https://openalex.org/I196699116"]},{"id":"https://openalex.org/I4210126203","display_name":"Hubei University of Automotive Technology","ror":"https://ror.org/039m95m06","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210126203"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiao-Jin Wan","raw_affiliation_strings":["Hubei Collaborative Innovation Center for Automotive Components Technology, Wuhan University of Technology, Wuhan 430070, China","School of Automotive Engineering, Hubei Key Laboratory of Advanced Technology for Automotive Components;"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hubei Collaborative Innovation Center for Automotive Components Technology, Wuhan University of Technology, Wuhan 430070, China","institution_ids":["https://openalex.org/I196699116"]},{"raw_affiliation_string":"School of Automotive Engineering, Hubei Key Laboratory of Advanced Technology for Automotive Components;","institution_ids":["https://openalex.org/I4210126203"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110648485","display_name":"J. C. Yang","orcid":null},"institutions":[{"id":"https://openalex.org/I196699116","display_name":"Wuhan University of Technology","ror":"https://ror.org/03fe7t173","country_code":"CN","type":"education","lineage":["https://openalex.org/I196699116"]},{"id":"https://openalex.org/I4210126203","display_name":"Hubei University of Automotive Technology","ror":"https://ror.org/039m95m06","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210126203"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junqiang Yang","raw_affiliation_strings":["Hubei Collaborative Innovation Center for Automotive Components Technology, Wuhan University of Technology, Wuhan 430070, China","School of Automotive Engineering, Hubei Key Laboratory of Advanced Technology for Automotive Components;"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hubei Collaborative Innovation Center for Automotive Components Technology, Wuhan University of Technology, Wuhan 430070, China","institution_ids":["https://openalex.org/I196699116"]},{"raw_affiliation_string":"School of Automotive Engineering, Hubei Key Laboratory of Advanced Technology for Automotive Components;","institution_ids":["https://openalex.org/I4210126203"]}]},{"author_position":"last","author":{"id":null,"display_name":"Yan Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I196699116","display_name":"Wuhan University of Technology","ror":"https://ror.org/03fe7t173","country_code":"CN","type":"education","lineage":["https://openalex.org/I196699116"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yan Zhang","raw_affiliation_strings":["School of Foreign Languages, Wuhan University of Technology, Wuhan 430070, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Foreign Languages, Wuhan University of Technology, Wuhan 430070, China","institution_ids":["https://openalex.org/I196699116"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.4927,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.66095799,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"20","issue":"4","first_page":null,"last_page":null},"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/T11525","display_name":"Piezoelectric Actuators and Control","score":0.9955000281333923,"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/T12907","display_name":"Mechanical Engineering and Vibrations Research","score":0.9951000213623047,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.9349815845489502},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.8002336621284485},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5915107727050781},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.5827693343162537},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5437392592430115},{"id":"https://openalex.org/keywords/diagonal","display_name":"Diagonal","score":0.45589473843574524},{"id":"https://openalex.org/keywords/inertia","display_name":"Inertia","score":0.44610682129859924},{"id":"https://openalex.org/keywords/property","display_name":"Property (philosophy)","score":0.4308212101459503},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.34497880935668945},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.3260631263256073},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.251279354095459},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1426820456981659},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.07864409685134888},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.06666317582130432}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.9349815845489502},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.8002336621284485},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5915107727050781},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.5827693343162537},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5437392592430115},{"id":"https://openalex.org/C130367717","wikidata":"https://www.wikidata.org/wiki/Q189791","display_name":"Diagonal","level":2,"score":0.45589473843574524},{"id":"https://openalex.org/C110407247","wikidata":"https://www.wikidata.org/wiki/Q122508","display_name":"Inertia","level":2,"score":0.44610682129859924},{"id":"https://openalex.org/C189950617","wikidata":"https://www.wikidata.org/wiki/Q937228","display_name":"Property (philosophy)","level":2,"score":0.4308212101459503},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.34497880935668945},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.3260631263256073},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.251279354095459},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1426820456981659},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.07864409685134888},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06666317582130432},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.0},{"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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1115/1.4045409","is_oa":false,"landing_page_url":"https://doi.org/10.1115/1.4045409","pdf_url":null,"source":{"id":"https://openalex.org/S173178594","display_name":"Journal of Computing and Information Science in Engineering","issn_l":"1530-9827","issn":["1530-9827","1944-7078"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310316053","host_organization_name":"ASM International","host_organization_lineage":["https://openalex.org/P4310316053"],"host_organization_lineage_names":["ASM International"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Computing and Information Science in Engineering","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G180321005","display_name":null,"funder_award_id":"51575417","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2773564309","display_name":null,"funder_award_id":"B17034","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":51,"referenced_works":["https://openalex.org/W1594593311","https://openalex.org/W1879536578","https://openalex.org/W1881109849","https://openalex.org/W1896081513","https://openalex.org/W1963812465","https://openalex.org/W1985162867","https://openalex.org/W2003531964","https://openalex.org/W2004905962","https://openalex.org/W2005242627","https://openalex.org/W2008457966","https://openalex.org/W2022227657","https://openalex.org/W2029050939","https://openalex.org/W2032531844","https://openalex.org/W2032718689","https://openalex.org/W2050547097","https://openalex.org/W2054478282","https://openalex.org/W2070917084","https://openalex.org/W2071997397","https://openalex.org/W2072550641","https://openalex.org/W2077129956","https://openalex.org/W2126995475","https://openalex.org/W2129504387","https://openalex.org/W2144908160","https://openalex.org/W2152916401","https://openalex.org/W2161608402","https://openalex.org/W2163521283","https://openalex.org/W2196588232","https://openalex.org/W2218209936","https://openalex.org/W2293268320","https://openalex.org/W2328775120","https://openalex.org/W2475266554","https://openalex.org/W2542612594","https://openalex.org/W2567393568","https://openalex.org/W2572738404","https://openalex.org/W2591807768","https://openalex.org/W2601071890","https://openalex.org/W2734483073","https://openalex.org/W2758823314","https://openalex.org/W2789162785","https://openalex.org/W2794584574","https://openalex.org/W2795741593","https://openalex.org/W2908817365","https://openalex.org/W2942532368","https://openalex.org/W2956309146","https://openalex.org/W4210556961","https://openalex.org/W4210660029","https://openalex.org/W4244440824","https://openalex.org/W6639779772","https://openalex.org/W6643981991","https://openalex.org/W6664078370","https://openalex.org/W6683534310"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2371519816","https://openalex.org/W2043154226","https://openalex.org/W2369529107","https://openalex.org/W2139993144","https://openalex.org/W2161214141","https://openalex.org/W2102645302","https://openalex.org/W2326117494","https://openalex.org/W4317937281","https://openalex.org/W1970280380"],"abstract_inverted_index":{"Abstract":[0],"Dynamic":[1],"performance":[2,22,34],"as":[3,65,164],"one":[4],"of":[5,9,27,37,73,113,142,146,191,214],"the":[6,10,25,44,50,57,71,75,85,91,100,114,122,130,135,144,147,149,154,160,172,185,192,215],"important":[7],"properties":[8],"parallel":[11,45,58,136,207],"mechanism":[12,59,137,209],"cannot":[13],"be":[14],"ignored,":[15],"which":[16],"is":[17,36,109,138,210],"usually":[18],"illustrated":[19],"through":[20],"dynamic":[21,33,81,93,156,189],"analysis":[23],"with":[24],"aid":[26],"index.":[28],"Therefore,":[29],"to":[30,128,182],"develop":[31],"reasonable":[32],"indices":[35],"great":[38],"theoretical":[39],"and":[40,80,90,121,159,177,188,197,204],"practical":[41],"significance":[42],"for":[43],"mechanism.":[46,193],"In":[47],"this":[48],"paper,":[49],"above":[51],"issues":[52],"are":[53,96,180],"discussed":[54],"by":[55,61,140],"taking":[56,143],"designed":[60],"our":[62],"research":[63],"group":[64],"a":[66,103,195],"study":[67],"object.":[68],"First,":[69],"on":[70,84],"basis":[72],"considering":[74],"driving":[76],"motor,":[77],"kinematics":[78,87,151],"dexterity":[79,82],"based":[83],"global":[86,92,150,155],"condition":[88,94,152,157],"index":[89,95,107,163],"analyzed,":[97],"respectively,":[98],"in":[99,111,118,212],"workspace.":[101],"Second,":[102],"novel":[104,198],"diagonally":[105,161],"dominant":[106,162],"(DDI)":[108],"presented":[110],"terms":[112,213],"equivalent":[115],"inertia":[116],"parameter":[117],"joint":[119],"space,":[120],"proposed":[123],"approach":[124],"gives":[125],"full":[126],"consideration":[127],"minimize":[129],"inter-chain":[131],"coupling":[132],"effects.":[133],"Furthermore,":[134],"optimized":[139,216],"means":[141],"volume":[145],"workspace,":[148,174],"index,":[153,158],"objective":[165],"functions.":[166],"The":[167],"optimization":[168],"result":[169],"shows":[170],"that":[171],"larger":[173],"higher":[175],"dexterity,":[176],"smaller":[178],"DDI":[179],"obtained":[181],"further":[183],"improve":[184],"work":[186],"capability":[187],"property":[190],"Finally,":[194],"real":[196],"8-SPU":[199],"(spherical":[200],"pair,":[201,203],"prismatic":[202],"universal":[205],"pair)":[206],"walking":[208],"manufactured":[211],"architecture":[217],"parameters.":[218]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}