{"id":"https://openalex.org/W2066258520","doi":"https://doi.org/10.1177/0278364904041322","title":"Optimal Design and Modeling of Spatial Parallel Manipulators","display_name":"Optimal Design and Modeling of Spatial Parallel Manipulators","publication_year":2004,"publication_date":"2004-02-01","ids":{"openalex":"https://openalex.org/W2066258520","doi":"https://doi.org/10.1177/0278364904041322","mag":"2066258520"},"language":"en","primary_location":{"id":"doi:10.1177/0278364904041322","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364904041322","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/A5052254085","display_name":"Karol Miller","orcid":"https://orcid.org/0000-0002-6577-2082"},"institutions":[{"id":"https://openalex.org/I177877127","display_name":"The University of Western Australia","ror":"https://ror.org/047272k79","country_code":"AU","type":"education","lineage":["https://openalex.org/I177877127"]}],"countries":["AU"],"is_corresponding":true,"raw_author_name":"Karol Miller","raw_affiliation_strings":["School of Mechanical Engineering,The University of Western Australia,                        Crawley/Perth WA 6009, Australia","School of Mechanical Engineering,The University of Western Australia, Crawley/Perth WA 6009, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering,The University of Western Australia,                        Crawley/Perth WA 6009, Australia","institution_ids":["https://openalex.org/I177877127"]},{"raw_affiliation_string":"School of Mechanical Engineering,The University of Western Australia, Crawley/Perth WA 6009, Australia","institution_ids":["https://openalex.org/I177877127"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5052254085"],"corresponding_institution_ids":["https://openalex.org/I177877127"],"apc_list":{"value":4400,"currency":"USD","value_usd":4400},"apc_paid":null,"fwci":17.1429,"has_fulltext":false,"cited_by_count":132,"citation_normalized_percentile":{"value":0.9886287,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":93,"max":100},"biblio":{"volume":"23","issue":"2","first_page":"127","last_page":"140"},"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/T11159","display_name":"Manufacturing Process and Optimization","score":0.9830999970436096,"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"}},{"id":"https://openalex.org/T11749","display_name":"Iterative Learning Control Systems","score":0.9800999760627747,"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/workspace","display_name":"Workspace","score":0.9536782503128052},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.679206371307373},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6558611989021301},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6341057419776917},{"id":"https://openalex.org/keywords/serial-manipulator","display_name":"Serial manipulator","score":0.6316994428634644},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5293263792991638},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.4723442792892456},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.41011959314346313},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.41009700298309326},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.359060138463974},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.34528571367263794},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23924469947814941},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1962316632270813},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1709437072277069},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.13861680030822754}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.9536782503128052},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.679206371307373},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6558611989021301},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6341057419776917},{"id":"https://openalex.org/C120910303","wikidata":"https://www.wikidata.org/wiki/Q7454692","display_name":"Serial manipulator","level":4,"score":0.6316994428634644},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5293263792991638},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.4723442792892456},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.41011959314346313},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.41009700298309326},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.359060138463974},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.34528571367263794},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23924469947814941},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1962316632270813},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1709437072277069},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.13861680030822754},{"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1177/0278364904041322","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364904041322","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"},{"id":"pmh:oai:pure.atira.dk:publications/434aa290-58c4-4847-8ab8-8db06e670bfb","is_oa":false,"landing_page_url":"https://research-repository.uwa.edu.au/en/publications/434aa290-58c4-4847-8ab8-8db06e670bfb","pdf_url":null,"source":{"id":"https://openalex.org/S4306402492","display_name":"UWA Profiles and Research Repository (UWA)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I177877127","host_organization_name":"The University of Western Australia","host_organization_lineage":["https://openalex.org/I177877127"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Miller, K 2004, 'Optimal Design and Modeling of Spatial Parallel Manipulators', The International Journal of Robotics Research, vol. 23, no. 2, pp. 127-140.","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320320915","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W41341799","https://openalex.org/W112748337","https://openalex.org/W132556635","https://openalex.org/W206859700","https://openalex.org/W1019208835","https://openalex.org/W1030395480","https://openalex.org/W1256870269","https://openalex.org/W1514056936","https://openalex.org/W1555993017","https://openalex.org/W1569339351","https://openalex.org/W1601470313","https://openalex.org/W1975537977","https://openalex.org/W1986875903","https://openalex.org/W2035291456","https://openalex.org/W2038686170","https://openalex.org/W2045818318","https://openalex.org/W2049938190","https://openalex.org/W2066133103","https://openalex.org/W2075151302","https://openalex.org/W2076650116","https://openalex.org/W2077129956","https://openalex.org/W2088957128","https://openalex.org/W2116278610","https://openalex.org/W2127910637","https://openalex.org/W2129417063","https://openalex.org/W2132294818","https://openalex.org/W2143494500","https://openalex.org/W2147245217","https://openalex.org/W2148798706","https://openalex.org/W2149044763","https://openalex.org/W2165096105","https://openalex.org/W2341668857","https://openalex.org/W2590787982","https://openalex.org/W3010782316","https://openalex.org/W3043217108","https://openalex.org/W3135534216","https://openalex.org/W4251420516","https://openalex.org/W4256526535","https://openalex.org/W6608479607","https://openalex.org/W6633071720","https://openalex.org/W6660355127"],"related_works":["https://openalex.org/W4235443019","https://openalex.org/W2362652060","https://openalex.org/W2357403317","https://openalex.org/W2394251694","https://openalex.org/W2026756596","https://openalex.org/W2635001913","https://openalex.org/W1917399524","https://openalex.org/W2537091977","https://openalex.org/W2948497870","https://openalex.org/W1964299565"],"abstract_inverted_index":{"Parallel":[0],"manipulators":[1,106],"offer":[2],"much":[3,16],"higher":[4],"rigidity":[5],"and":[6,18,112,116,135,138,153,168,196,220],"smaller":[7],"mobile":[8],"mass":[9],"than":[10,252],"their":[11,29,109],"serial":[12,35,76],"counterparts,":[13],"thus":[14],"allowing":[15],"faster":[17],"more":[19,250,254],"precise":[20],"manipulations.":[21],"The":[22,228,243],"main":[23],"disadvantage":[24],"of":[25,37,43,52,63,133,163,223,239],"parallel":[26,44,64,87,105,120,226],"robots":[27,45,77,88],"is":[28,46,60,92,186,245],"small":[30],"workspace":[31,110,136],"in":[32,49,97,175],"comparison":[33],"to":[34,86,103,118,201,215,247],"arms":[36],"similar":[38],"size.":[39],"Furthermore,":[40],"the":[41,53,90,148,160,169,181,218,237,240,253],"manipulability":[42,113,134,152],"often":[47,67],"poor":[48],"some":[50],"regions":[51],"(already":[54],"small)":[55],"workspace.":[56],"Another":[57],"problematic":[58],"issue":[59],"effective":[61,187],"modeling":[62],"robot":[65,121],"dynamics,":[66],"needed":[68],"for":[69,75,188,225],"control":[70],"algorithms.":[71],"Dynamic":[72],"algorithms":[73],"developed":[74],"or":[78],"general":[79],"closed-loop":[80],"mechanisms":[81],"cannot":[82],"be":[83,248],"easily":[84],"applied":[85],"when":[89],"objective":[91],"real-time,":[93],"dynamicmodelbased":[94],"control.":[95],"Therefore,":[96],"this":[98],"work":[99],"we":[100],"investigate":[101],"how":[102,117],"design":[104,145,177,194],"so":[107],"that":[108,130,146,180],"size":[111],"are":[114,158],"maximized,":[115],"model":[119],"dynamics":[122,224],"effectively.":[123],"We":[124,206],"develop":[125,207],"a":[126,139,144,198,208],"new":[127],"performance":[128],"index":[129],"combines":[131],"measures":[132],"size,":[137],"kinematic":[140],"optimization":[141],"process":[142],"yielding":[143],"delivers":[147],"best":[149],"compromise":[150],"between":[151],"space":[154],"utilization.":[155],"Two":[156],"examples":[157],"considered:":[159],"New":[161],"University":[162],"Western":[164],"Australia":[165],"Robot":[166],"(NUWAR)":[167],"Linear":[170],"Delta":[171],"robot.":[172],"Our":[173],"experience":[174],"optimal":[176],"studies":[178],"shows":[179],"exhaustive":[182],"search":[183],"minimization":[184],"algorithm":[185],"as":[189,191],"many":[190],"four":[192],"independent":[193],"variables":[195],"presents":[197],"viable":[199],"alternative":[200],"advanced":[202],"non-linear":[203],"programming":[204],"methods.":[205,257],"method":[209,229],"based":[210],"on":[211],"Hamilton\u2019s":[212],"canonical":[213],"equations":[214],"solve":[216],"both":[217],"inverse":[219],"direct":[221],"problems":[222],"robots.":[227],"uses":[230],"carefully":[231],"chosen":[232],"dependent":[233],"coordinates,":[234],"called":[235],"here":[236],"coordinates":[238],"extended":[241],"space.":[242],"approach":[244],"shown":[246],"computationally":[249],"efficient":[251],"common":[255],"acceleration-based":[256]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":8},{"year":2019,"cited_by_count":7},{"year":2018,"cited_by_count":6},{"year":2017,"cited_by_count":14},{"year":2016,"cited_by_count":5},{"year":2015,"cited_by_count":6},{"year":2014,"cited_by_count":6},{"year":2013,"cited_by_count":8},{"year":2012,"cited_by_count":6}],"updated_date":"2026-09-02T07:38:04.252551","created_date":"2025-10-10T00:00:00"}
