{"id":"https://openalex.org/W1983996098","doi":"https://doi.org/10.1177/0278364905053688","title":"Fully Isotropic Four-Degrees-of-Freedom Parallel Mechanisms for Schoenflies Motion","display_name":"Fully Isotropic Four-Degrees-of-Freedom Parallel Mechanisms for Schoenflies Motion","publication_year":2005,"publication_date":"2005-05-01","ids":{"openalex":"https://openalex.org/W1983996098","doi":"https://doi.org/10.1177/0278364905053688","mag":"1983996098"},"language":"en","primary_location":{"id":"doi:10.1177/0278364905053688","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364905053688","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/A5074104066","display_name":"Marco Carricato","orcid":"https://orcid.org/0000-0002-1528-4304"},"institutions":[{"id":"https://openalex.org/I9360294","display_name":"University of Bologna","ror":"https://ror.org/01111rn36","country_code":"IT","type":"education","lineage":["https://openalex.org/I9360294"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Marco Carricato","raw_affiliation_strings":["DIEM - Department of Mechanical Engineering, University of Bologna, Viale                         Risorgimento 2, 40136 Bologna, Italy,","DIEM - Department of Mechanical Engineering, University of Bologna, Viale Risorgimento 2, 40136 Bologna, Italy,"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"DIEM - Department of Mechanical Engineering, University of Bologna, Viale                         Risorgimento 2, 40136 Bologna, Italy,","institution_ids":["https://openalex.org/I9360294"]},{"raw_affiliation_string":"DIEM - Department of Mechanical Engineering, University of Bologna, Viale Risorgimento 2, 40136 Bologna, Italy,","institution_ids":["https://openalex.org/I9360294"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5074104066"],"corresponding_institution_ids":["https://openalex.org/I9360294"],"apc_list":null,"apc_paid":null,"fwci":28.944,"has_fulltext":false,"cited_by_count":104,"citation_normalized_percentile":{"value":0.99678996,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"24","issue":"5","first_page":"397","last_page":"414"},"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":0.9972000122070312,"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":0.9860000014305115,"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/workspace","display_name":"Workspace","score":0.8301399350166321},{"id":"https://openalex.org/keywords/wrench","display_name":"Wrench","score":0.7512974739074707},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.660466730594635},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6476086378097534},{"id":"https://openalex.org/keywords/isotropy","display_name":"Isotropy","score":0.6290434002876282},{"id":"https://openalex.org/keywords/constant","display_name":"Constant (computer programming)","score":0.5475505590438843},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.511938214302063},{"id":"https://openalex.org/keywords/screw-theory","display_name":"Screw theory","score":0.5106952786445618},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.5073704123497009},{"id":"https://openalex.org/keywords/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.47465115785598755},{"id":"https://openalex.org/keywords/diagonal","display_name":"Diagonal","score":0.4604646861553192},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4348779618740082},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.38009336590766907},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.2889455556869507},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2799917161464691},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.21979111433029175},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1751091182231903},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1456628143787384},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13655707240104675},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.12440016865730286},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.09576588869094849}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.8301399350166321},{"id":"https://openalex.org/C29302406","wikidata":"https://www.wikidata.org/wiki/Q154411","display_name":"Wrench","level":2,"score":0.7512974739074707},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.660466730594635},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6476086378097534},{"id":"https://openalex.org/C184050105","wikidata":"https://www.wikidata.org/wiki/Q273163","display_name":"Isotropy","level":2,"score":0.6290434002876282},{"id":"https://openalex.org/C2777027219","wikidata":"https://www.wikidata.org/wiki/Q1284190","display_name":"Constant (computer programming)","level":2,"score":0.5475505590438843},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.511938214302063},{"id":"https://openalex.org/C18788176","wikidata":"https://www.wikidata.org/wiki/Q7891441","display_name":"Screw theory","level":3,"score":0.5106952786445618},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.5073704123497009},{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.47465115785598755},{"id":"https://openalex.org/C130367717","wikidata":"https://www.wikidata.org/wiki/Q189791","display_name":"Diagonal","level":2,"score":0.4604646861553192},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4348779618740082},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.38009336590766907},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.2889455556869507},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2799917161464691},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.21979111433029175},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1751091182231903},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1456628143787384},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13655707240104675},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.12440016865730286},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.09576588869094849},{"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/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1177/0278364905053688","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364905053688","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:CiteSeerX.psu:10.1.1.958.5016","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.958.5016","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://ijr.sagepub.com/content/24/5/397.full.pdf","raw_type":"text"},{"id":"pmh:oai:cris.unibo.it:11585/8657","is_oa":false,"landing_page_url":"http://hdl.handle.net/11585/8657","pdf_url":null,"source":{"id":"https://openalex.org/S4306402579","display_name":"Archivio istituzionale della ricerca (Alma Mater Studiorum Universit\u00e0 di Bologna)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210117483","host_organization_name":"Istituto di Ematologia di Bologna","host_organization_lineage":["https://openalex.org/I4210117483"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7699999809265137,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W55022225","https://openalex.org/W131514738","https://openalex.org/W236766948","https://openalex.org/W1555993017","https://openalex.org/W1597009130","https://openalex.org/W1963976266","https://openalex.org/W1973276604","https://openalex.org/W1974931392","https://openalex.org/W1976491937","https://openalex.org/W1981338117","https://openalex.org/W1990447791","https://openalex.org/W1996088900","https://openalex.org/W2017420452","https://openalex.org/W2040479465","https://openalex.org/W2041368296","https://openalex.org/W2047126621","https://openalex.org/W2047318255","https://openalex.org/W2058774057","https://openalex.org/W2067603569","https://openalex.org/W2072550641","https://openalex.org/W2074126943","https://openalex.org/W2077129956","https://openalex.org/W2082995859","https://openalex.org/W2106885928","https://openalex.org/W2133037307","https://openalex.org/W2139750985","https://openalex.org/W2142267409","https://openalex.org/W2146475250","https://openalex.org/W2170438334","https://openalex.org/W2296280963","https://openalex.org/W3043217108","https://openalex.org/W3170994865","https://openalex.org/W4241030939","https://openalex.org/W6796878037","https://openalex.org/W7065243650"],"related_works":["https://openalex.org/W2120734204","https://openalex.org/W1965047598","https://openalex.org/W2186618162","https://openalex.org/W2183472499","https://openalex.org/W2158050076","https://openalex.org/W2145622176","https://openalex.org/W4226242789","https://openalex.org/W2526184808","https://openalex.org/W2062674159","https://openalex.org/W4288680457"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,29,91,97,105,108],"novel":[4],"family":[5],"of":[6,39,42,77,81,84,86,110,163],"fully":[7],"isotropic":[8],"parallel":[9],"mechanisms":[10],"whose":[11],"output":[12,88],"link":[13,164],"is":[14,34,133,137,142,166],"provided":[15],"with":[16,102,125],"Schoenflies":[17],"motion,":[18,128],"i.e.,":[19],"it":[20],"can":[21,151],"freely":[22],"translate":[23],"in":[24],"space":[25],"and":[26,52,63,74,139,160],"rotate":[27],"about":[28],"fixed":[30],"direction.":[31],"A":[32],"methodology":[33],"proposed":[35],"that":[36,130],"makes":[37],"use":[38],"the":[40,50,53,66,82,87,114,119,126,156,161],"theory":[41],"screws":[43],"to":[44,118,155],"synthesize":[45],"desired":[46],"forms":[47],"for":[48,144],"both":[49],"direct":[51],"inverse":[54],"Jacobian":[55],"matrices.":[56],"In":[57],"particular,":[58],"these":[59],"are":[60,69],"made":[61],"diagonal":[62],"constant":[64,92],"throughout":[65],"workspace.":[67],"Motors":[68],"mounted":[70],"one":[71,76,80],"per":[72],"leg":[73],"each":[75],"them":[78],"actuates":[79],"degrees":[83],"freedom":[85],"body":[89],"through":[90],"one-to-one":[93],"velocity":[94],"relation.":[95],"As":[96],"consequence,":[98],"motors":[99],"may":[100],"apply,":[101],"equal":[103],"ease,":[104],"twist":[106],"or":[107],"wrench":[109],"any":[111,122],"amplitude":[112],"(within":[113],"motor":[115],"operation":[116],"range)":[117],"end-effector":[120],"around":[121],"screw":[123],"congruous":[124],"admitted":[127],"so":[129],"full":[131],"isotropy":[132],"achieved.":[134],"Kinematic":[135],"analysis":[136],"trivial":[138],"no":[140],"computation":[141],"required":[143],"real-time":[145],"control.":[146],"Furthermore,":[147],"actuator":[148],"motion":[149],"ranges":[150],"be":[152],"easily":[153],"related":[154],"theoretical":[157],"workspace":[158],"dimensions":[159],"problem":[162],"interference":[165],"potentially":[167],"simplified.":[168]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":10},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":5},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":4},{"year":2012,"cited_by_count":8}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
