{"id":"https://openalex.org/W2041403045","doi":"https://doi.org/10.1177/027836402760475351","title":"Identification of the Special Configurations of the Octahedral Manipulator using the Pure Condition","display_name":"Identification of the Special Configurations of the Octahedral Manipulator using the Pure Condition","publication_year":2002,"publication_date":"2002-02-01","ids":{"openalex":"https://openalex.org/W2041403045","doi":"https://doi.org/10.1177/027836402760475351","mag":"2041403045"},"language":"en","primary_location":{"id":"doi:10.1177/027836402760475351","is_oa":false,"landing_page_url":"https://doi.org/10.1177/027836402760475351","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"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":"The International Journal of Robotics Research","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/A5070156078","display_name":"David Downing","orcid":"https://orcid.org/0000-0002-2098-820X"},"institutions":[{"id":"https://openalex.org/I165779595","display_name":"University of Melbourne","ror":"https://ror.org/01ej9dk98","country_code":"AU","type":"education","lineage":["https://openalex.org/I165779595"]}],"countries":["AU"],"is_corresponding":true,"raw_author_name":"D.M. Downing","raw_affiliation_strings":["Robot Kinematics Group Dept. Mechanical and Manufacturing Engineering University of Melbourne, 3010 Victoria, Australia,"],"affiliations":[{"raw_affiliation_string":"Robot Kinematics Group Dept. Mechanical and Manufacturing Engineering University of Melbourne, 3010 Victoria, Australia,","institution_ids":["https://openalex.org/I165779595"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070192784","display_name":"A. E. Samuel","orcid":null},"institutions":[{"id":"https://openalex.org/I165779595","display_name":"University of Melbourne","ror":"https://ror.org/01ej9dk98","country_code":"AU","type":"education","lineage":["https://openalex.org/I165779595"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"A.E. Samuel","raw_affiliation_strings":["Robot Kinematics Group Dept. Mechanical and Manufacturing Engineering University of Melbourne, 3010 Victoria, Australia","Robot Kinematics Group Dept. Mechanical and Manufacturing Engineering University of Melbourne, 3010 Victoria, Australia,"],"affiliations":[{"raw_affiliation_string":"Robot Kinematics Group Dept. Mechanical and Manufacturing Engineering University of Melbourne, 3010 Victoria, Australia","institution_ids":["https://openalex.org/I165779595"]},{"raw_affiliation_string":"Robot Kinematics Group Dept. Mechanical and Manufacturing Engineering University of Melbourne, 3010 Victoria, Australia,","institution_ids":["https://openalex.org/I165779595"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5034658163","display_name":"K. H. Hunt","orcid":null},"institutions":[{"id":"https://openalex.org/I165779595","display_name":"University of Melbourne","ror":"https://ror.org/01ej9dk98","country_code":"AU","type":"education","lineage":["https://openalex.org/I165779595"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"K.H. Hunt","raw_affiliation_strings":["Robot Kinematics Group Dept. Mechanical and Manufacturing Engineering University of Melbourne, 3010 Victoria, Australia","Robot Kinematics Group Dept. Mechanical and Manufacturing Engineering University of Melbourne, 3010 Victoria, Australia,"],"affiliations":[{"raw_affiliation_string":"Robot Kinematics Group Dept. Mechanical and Manufacturing Engineering University of Melbourne, 3010 Victoria, Australia","institution_ids":["https://openalex.org/I165779595"]},{"raw_affiliation_string":"Robot Kinematics Group Dept. Mechanical and Manufacturing Engineering University of Melbourne, 3010 Victoria, Australia,","institution_ids":["https://openalex.org/I165779595"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5070156078"],"corresponding_institution_ids":["https://openalex.org/I165779595"],"apc_list":null,"apc_paid":null,"fwci":3.16,"has_fulltext":false,"cited_by_count":47,"citation_normalized_percentile":{"value":0.90748408,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"21","issue":"2","first_page":"147","last_page":"159"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9997000098228455,"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":0.9997000098228455,"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/T11870","display_name":"Structural Analysis and Optimization","score":0.9984999895095825,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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":0.9944999814033508,"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":0.8262050151824951},{"id":"https://openalex.org/keywords/rigidity","display_name":"Rigidity (electromagnetism)","score":0.7362076640129089},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.6702361106872559},{"id":"https://openalex.org/keywords/octahedron","display_name":"Octahedron","score":0.6073418259620667},{"id":"https://openalex.org/keywords/identification","display_name":"Identification (biology)","score":0.520520806312561},{"id":"https://openalex.org/keywords/stewart-platform","display_name":"Stewart platform","score":0.5011467933654785},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4649219810962677},{"id":"https://openalex.org/keywords/simple","display_name":"Simple (philosophy)","score":0.44963404536247253},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.4041810631752014},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3204752206802368},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.2998664975166321},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.26696449518203735},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21200904250144958},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.15507957339286804},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1268918216228485},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.11507731676101685},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.0867491066455841}],"concepts":[{"id":"https://openalex.org/C173534245","wikidata":"https://www.wikidata.org/wiki/Q1328068","display_name":"Truss","level":2,"score":0.8262050151824951},{"id":"https://openalex.org/C160343418","wikidata":"https://www.wikidata.org/wiki/Q185256","display_name":"Rigidity (electromagnetism)","level":2,"score":0.7362076640129089},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.6702361106872559},{"id":"https://openalex.org/C198819137","wikidata":"https://www.wikidata.org/wiki/Q188884","display_name":"Octahedron","level":3,"score":0.6073418259620667},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.520520806312561},{"id":"https://openalex.org/C69769044","wikidata":"https://www.wikidata.org/wiki/Q2041113","display_name":"Stewart platform","level":3,"score":0.5011467933654785},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4649219810962677},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.44963404536247253},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4041810631752014},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3204752206802368},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.2998664975166321},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.26696449518203735},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21200904250144958},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.15507957339286804},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1268918216228485},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.11507731676101685},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.0867491066455841},{"id":"https://openalex.org/C59822182","wikidata":"https://www.wikidata.org/wiki/Q441","display_name":"Botany","level":1,"score":0.0},{"id":"https://openalex.org/C145148216","wikidata":"https://www.wikidata.org/wiki/Q36496","display_name":"Ion","level":2,"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/027836402760475351","is_oa":false,"landing_page_url":"https://doi.org/10.1177/027836402760475351","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"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":"The International Journal of Robotics Research","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.44999998807907104}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W206494649","https://openalex.org/W290527292","https://openalex.org/W1494930020","https://openalex.org/W1597009130","https://openalex.org/W1599833186","https://openalex.org/W1992810839","https://openalex.org/W2045536599","https://openalex.org/W2055480072","https://openalex.org/W2068418846","https://openalex.org/W2070613680","https://openalex.org/W2079965877","https://openalex.org/W2086016518","https://openalex.org/W2110647104","https://openalex.org/W2124860692","https://openalex.org/W2143682873","https://openalex.org/W2148774202","https://openalex.org/W2913641857","https://openalex.org/W4233070941","https://openalex.org/W4293207255"],"related_works":["https://openalex.org/W2002655084","https://openalex.org/W2041403045","https://openalex.org/W2390671770","https://openalex.org/W2136635104","https://openalex.org/W2117965007","https://openalex.org/W2415410333","https://openalex.org/W2144635128","https://openalex.org/W2033164783","https://openalex.org/W2016766850","https://openalex.org/W2127251785"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,76],"technique,":[4],"known":[5,52],"as":[6],"the":[7,16,26,45,55,69,86,93],"Pure":[8],"Condition,":[9],"which":[10],"has":[11],"found":[12],"use":[13],"in":[14,44,85],"analysing":[15],"rigidity":[17],"of":[18,92],"truss-like":[19],"structures.":[20],"The":[21,38,72],"analysis":[22],"is":[23,58],"applied":[24],"to":[25,34,50,60,75],"Stewart":[27,94],"Platform":[28],"where":[29],"it":[30],"can":[31],"be":[32,61],"used":[33],"identify":[35],"special":[36,42,83],"configurations.":[37],"conditions":[39,53],"that":[40],"produce":[41],"configurations":[43,84],"octahedral":[46,87],"manipulator":[47,88],"are":[48],"compared":[49],"previously":[51],"and":[54,78,89],"associated":[56],"geometry":[57],"seen":[59],"more":[62],"revealing":[63],"with":[64],"this":[65],"method":[66,80],"than":[67],"was":[68],"case":[70],"previously.":[71],"results":[73],"lead":[74],"simple":[77],"clear":[79],"for":[81],"identifying":[82],"other":[90],"specializations":[91],"Platform.":[95]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":2},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":4},{"year":2012,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}