{"id":"https://openalex.org/W2145892939","doi":"https://doi.org/10.1177/0037549713482733","title":"A novel kinematic design, analysis and simulation tool for general Stewart platforms","display_name":"A novel kinematic design, analysis and simulation tool for general Stewart platforms","publication_year":2013,"publication_date":"2013-04-18","ids":{"openalex":"https://openalex.org/W2145892939","doi":"https://doi.org/10.1177/0037549713482733","mag":"2145892939"},"language":"en","primary_location":{"id":"doi:10.1177/0037549713482733","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0037549713482733","pdf_url":null,"source":{"id":"https://openalex.org/S32573412","display_name":"SIMULATION","issn_l":"0037-5497","issn":["0037-5497","1741-3133"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"SIMULATION","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/A5075947330","display_name":"Alpaslan Burak \u0130nner","orcid":"https://orcid.org/0000-0003-0933-654X"},"institutions":[{"id":"https://openalex.org/I51826884","display_name":"Kocaeli \u00dcniversitesi","ror":"https://ror.org/0411seq30","country_code":"TR","type":"education","lineage":["https://openalex.org/I51826884"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"Burak Inner","raw_affiliation_strings":["Department of Computer and Electronics, University of Kocaeli, Turkey"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer and Electronics, University of Kocaeli, Turkey","institution_ids":["https://openalex.org/I51826884"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010781223","display_name":"Serdar K\u00fc\u00e7\u00fck","orcid":"https://orcid.org/0000-0002-5543-7539"},"institutions":[{"id":"https://openalex.org/I51826884","display_name":"Kocaeli \u00dcniversitesi","ror":"https://ror.org/0411seq30","country_code":"TR","type":"education","lineage":["https://openalex.org/I51826884"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"Serdar Kucuk","raw_affiliation_strings":["Department of Biomedical Engineering, University of Kocaeli, Turkey","Department of Biomedical Engineering, University of Kocaeli, Turkey#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, University of Kocaeli, Turkey","institution_ids":["https://openalex.org/I51826884"]},{"raw_affiliation_string":"Department of Biomedical Engineering, University of Kocaeli, Turkey#TAB#","institution_ids":["https://openalex.org/I51826884"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I51826884"],"apc_list":null,"apc_paid":null,"fwci":2.007,"has_fulltext":false,"cited_by_count":35,"citation_normalized_percentile":{"value":0.8859866,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"89","issue":"7","first_page":"876","last_page":"897"},"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/T10868","display_name":"Soft Robotics and Applications","score":0.9934999942779541,"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/T11159","display_name":"Manufacturing Process and Optimization","score":0.9922999739646912,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/kinematics","display_name":"Kinematics","score":0.8136332035064697},{"id":"https://openalex.org/keywords/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.7121541500091553},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.7106137871742249},{"id":"https://openalex.org/keywords/stewart-platform","display_name":"Stewart platform","score":0.6796908974647522},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6351590156555176},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.6329174041748047},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.5881417989730835},{"id":"https://openalex.org/keywords/graphical-user-interface","display_name":"Graphical user interface","score":0.5638224482536316},{"id":"https://openalex.org/keywords/euler-angles","display_name":"Euler angles","score":0.560347318649292},{"id":"https://openalex.org/keywords/visualization","display_name":"Visualization","score":0.4498511850833893},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4467789828777313},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.44549065828323364},{"id":"https://openalex.org/keywords/matlab","display_name":"MATLAB","score":0.4218086004257202},{"id":"https://openalex.org/keywords/animation","display_name":"Animation","score":0.418972909450531},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.32241642475128174},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.26783061027526855},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18977051973342896},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.15216144919395447},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.1191328763961792},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.08317774534225464}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.8136332035064697},{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.7121541500091553},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.7106137871742249},{"id":"https://openalex.org/C69769044","wikidata":"https://www.wikidata.org/wiki/Q2041113","display_name":"Stewart platform","level":3,"score":0.6796908974647522},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6351590156555176},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.6329174041748047},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.5881417989730835},{"id":"https://openalex.org/C37789001","wikidata":"https://www.wikidata.org/wiki/Q782543","display_name":"Graphical user interface","level":2,"score":0.5638224482536316},{"id":"https://openalex.org/C146160929","wikidata":"https://www.wikidata.org/wiki/Q751290","display_name":"Euler angles","level":2,"score":0.560347318649292},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.4498511850833893},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4467789828777313},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.44549065828323364},{"id":"https://openalex.org/C2780365114","wikidata":"https://www.wikidata.org/wiki/Q169478","display_name":"MATLAB","level":2,"score":0.4218086004257202},{"id":"https://openalex.org/C502989409","wikidata":"https://www.wikidata.org/wiki/Q11425","display_name":"Animation","level":2,"score":0.418972909450531},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.32241642475128174},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.26783061027526855},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18977051973342896},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.15216144919395447},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.1191328763961792},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.08317774534225464},{"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1177/0037549713482733","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0037549713482733","pdf_url":null,"source":{"id":"https://openalex.org/S32573412","display_name":"SIMULATION","issn_l":"0037-5497","issn":["0037-5497","1741-3133"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"SIMULATION","raw_type":"journal-article"},{"id":"pmh:56327c62-5cbb-4d1f-9705-25ae4c3d6927","is_oa":false,"landing_page_url":"https://avesis.kocaeli.edu.tr/publication/details/56327c62-5cbb-4d1f-9705-25ae4c3d6927/oai","pdf_url":null,"source":{"id":"https://openalex.org/S7407055291","display_name":"Kocaeli \u00dcniversitesi - AVES\u0130S","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Industry, innovation and infrastructure","id":"https://metadata.un.org/sdg/9","score":0.6399999856948853}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":56,"referenced_works":["https://openalex.org/W59797564","https://openalex.org/W173264240","https://openalex.org/W1256870269","https://openalex.org/W1511979378","https://openalex.org/W1536930006","https://openalex.org/W1558378569","https://openalex.org/W1605480306","https://openalex.org/W1964192104","https://openalex.org/W1972880440","https://openalex.org/W1975468089","https://openalex.org/W1985372149","https://openalex.org/W1987569993","https://openalex.org/W1991844548","https://openalex.org/W1992856197","https://openalex.org/W2000348341","https://openalex.org/W2017605857","https://openalex.org/W2039446760","https://openalex.org/W2042538399","https://openalex.org/W2043154226","https://openalex.org/W2044933794","https://openalex.org/W2053411443","https://openalex.org/W2054472106","https://openalex.org/W2060280165","https://openalex.org/W2062866083","https://openalex.org/W2064071544","https://openalex.org/W2070917084","https://openalex.org/W2076005773","https://openalex.org/W2077129956","https://openalex.org/W2089733899","https://openalex.org/W2090842630","https://openalex.org/W2105464933","https://openalex.org/W2109948066","https://openalex.org/W2112157908","https://openalex.org/W2117689307","https://openalex.org/W2120174634","https://openalex.org/W2130747331","https://openalex.org/W2131057290","https://openalex.org/W2135403213","https://openalex.org/W2146475250","https://openalex.org/W2148735693","https://openalex.org/W2158815559","https://openalex.org/W2163223579","https://openalex.org/W2164278974","https://openalex.org/W2169424109","https://openalex.org/W2315594652","https://openalex.org/W2341668857","https://openalex.org/W2762590276","https://openalex.org/W2773732879","https://openalex.org/W2973733253","https://openalex.org/W3139610437","https://openalex.org/W3149037783","https://openalex.org/W3180482864","https://openalex.org/W4230621953","https://openalex.org/W4250502126","https://openalex.org/W4301862388","https://openalex.org/W6602392408"],"related_works":["https://openalex.org/W1679399962","https://openalex.org/W2356332059","https://openalex.org/W2132859693","https://openalex.org/W1901106430","https://openalex.org/W1981573341","https://openalex.org/W2381671313","https://openalex.org/W3145199457","https://openalex.org/W2352988908","https://openalex.org/W1979318820","https://openalex.org/W3144090520"],"abstract_inverted_index":{"In":[0],"this":[1,183],"paper,":[2],"a":[3,75,147],"general":[4,37],"Stewart":[5,38],"Platform":[6],"Simulation":[7],"tool":[8,185],"(STEWSIM)":[9],"is":[10],"developed":[11,28],"for":[12,29,166,199],"robot":[13],"designers":[14],"and":[15,48,59,82,91,117,151,177],"researchers.":[16],"The":[17,103,180],"STEWSIM":[18,104,155],"uses":[19],"an":[20,51,132],"efficient":[21],"connection":[22],"matrix":[23],"algorithm":[24],"that":[25,195],"has":[26],"been":[27],"kinematic":[30,137,148],"design":[31],"of":[32,36,54,77,97,109,114,120,139,182,191],"all":[33],"possible":[34],"types":[35,190],"platforms":[39],"(GSPs),":[40],"such":[41,79,173],"as":[42,80,174],"3\u00d73,":[43],"3\u00d74,":[44],"3\u00d75":[45],"\u2026":[46],"6\u00d75":[47],"6\u00d76":[49],"with":[50,143,158,170],"arbitrary":[52,144],"number":[53],"legs":[55],"varying":[56],"between":[57],"three":[58],"six.":[60],"This":[61],"new":[62,189],"interactive":[63],"simulation":[64,152,184],"software":[65],"based":[66],"on":[67],"the":[68,107,110,115,136,140,154,159,163],"MATLAB":[69],"Graphical":[70],"User":[71],"Interface":[72],"(GUI)":[73],"provides":[74,106,131,156],"suite":[76],"analyses,":[78],"inverse":[81,124],"forward":[83],"kinematics,":[84],"Jacobian":[85],"matrix,":[86],"dexterity,":[87],"workspace,":[88,116],"singularity":[89],"analysis":[90,150],"trajectory":[92],"planning,":[93],"using":[94],"different":[95],"kinds":[96],"roll-pitch-yaw":[98],"or":[99],"Euler":[100],"angle":[101],"sets.":[102],"also":[105],"visualization":[108],"GSPs,":[111],"graphical":[112],"representation":[113],"graphic":[118],"animation":[119],"trajectories":[121],"specified":[122],"by":[123],"kinematics":[125],"in":[126,188,202],"three-dimensional":[127],"space.":[128],"Furthermore,":[129],"it":[130],"environment":[133],"to":[134,161],"compare":[135],"performances":[138],"designed":[141],"GSPs":[142],"configuration.":[145],"As":[146],"design,":[149],"software,":[153],"researchers":[157],"ability":[160],"change":[162],"parameters":[164],"interactively":[165],"designing":[167],"their":[168],"manipulators":[169,194],"optimum":[171],"specifications,":[172],"leg":[175],"lengths":[176],"attachment":[178],"points.":[179],"usage":[181],"may":[186],"result":[187],"feasible":[192],"robotic":[193],"can":[196],"be":[197],"used":[198],"practical":[200],"applications":[201],"industry.":[203]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":9},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":2}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}