{"id":"https://openalex.org/W2030374020","doi":"https://doi.org/10.1177/027836499101000204","title":"Special Configurations of Multi-finger Multi- freedom Grippers \u2014 A Kinematic Study","display_name":"Special Configurations of Multi-finger Multi- freedom Grippers \u2014 A Kinematic Study","publication_year":1991,"publication_date":"1991-04-01","ids":{"openalex":"https://openalex.org/W2030374020","doi":"https://doi.org/10.1177/027836499101000204","mag":"2030374020"},"language":"en","primary_location":{"id":"doi:10.1177/027836499101000204","is_oa":false,"landing_page_url":"https://doi.org/10.1177/027836499101000204","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/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":true,"raw_author_name":"K.H. Hunt","raw_affiliation_strings":["Robotics Laboratory Department of Mechanical and Manufacturing Engineering The University of Melbourne Parkville, Melbourne, Australia"],"affiliations":[{"raw_affiliation_string":"Robotics Laboratory Department of Mechanical and Manufacturing Engineering The University of Melbourne Parkville, Melbourne, 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":["Robotics Laboratory Department of Mechanical and Manufacturing Engineering The University of Melbourne Parkville, Melbourne, Australia"],"affiliations":[{"raw_affiliation_string":"Robotics Laboratory Department of Mechanical and Manufacturing Engineering The University of Melbourne Parkville, Melbourne, Australia","institution_ids":["https://openalex.org/I165779595"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5019369861","display_name":"P. R. Mc\u0102ree","orcid":"https://orcid.org/0000-0001-9259-0615"},"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":"P.R. McAree","raw_affiliation_strings":["Robotics Laboratory Department of Mechanical and Manufacturing Engineering The University of Melbourne Parkville, Melbourne, Australia"],"affiliations":[{"raw_affiliation_string":"Robotics Laboratory Department of Mechanical and Manufacturing Engineering The University of Melbourne Parkville, Melbourne, Australia","institution_ids":["https://openalex.org/I165779595"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5034658163"],"corresponding_institution_ids":["https://openalex.org/I165779595"],"apc_list":null,"apc_paid":null,"fwci":0.7711,"has_fulltext":false,"cited_by_count":50,"citation_normalized_percentile":{"value":0.73578414,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"10","issue":"2","first_page":"123","last_page":"134"},"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9994999766349792,"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":0.9977999925613403,"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/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.81794273853302},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.8054351210594177},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7841901183128357},{"id":"https://openalex.org/keywords/serial-manipulator","display_name":"Serial manipulator","score":0.7633544206619263},{"id":"https://openalex.org/keywords/screw-theory","display_name":"Screw theory","score":0.7311481833457947},{"id":"https://openalex.org/keywords/reciprocity","display_name":"Reciprocity (cultural anthropology)","score":0.5967500805854797},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5058259963989258},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.4628540575504303},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.448697566986084},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.43868961930274963},{"id":"https://openalex.org/keywords/series","display_name":"Series (stratigraphy)","score":0.4378300905227661},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.41699162125587463},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4061795473098755},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3843776285648346},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.36087435483932495},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.24344390630722046},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.0978497564792633},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08824089169502258}],"concepts":[{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.81794273853302},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.8054351210594177},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7841901183128357},{"id":"https://openalex.org/C120910303","wikidata":"https://www.wikidata.org/wiki/Q7454692","display_name":"Serial manipulator","level":4,"score":0.7633544206619263},{"id":"https://openalex.org/C18788176","wikidata":"https://www.wikidata.org/wiki/Q7891441","display_name":"Screw theory","level":3,"score":0.7311481833457947},{"id":"https://openalex.org/C169903001","wikidata":"https://www.wikidata.org/wiki/Q3264987","display_name":"Reciprocity (cultural anthropology)","level":2,"score":0.5967500805854797},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5058259963989258},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.4628540575504303},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.448697566986084},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.43868961930274963},{"id":"https://openalex.org/C143724316","wikidata":"https://www.wikidata.org/wiki/Q312468","display_name":"Series (stratigraphy)","level":2,"score":0.4378300905227661},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.41699162125587463},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4061795473098755},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3843776285648346},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.36087435483932495},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.24344390630722046},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0978497564792633},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08824089169502258},{"id":"https://openalex.org/C77805123","wikidata":"https://www.wikidata.org/wiki/Q161272","display_name":"Social psychology","level":1,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","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/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1177/027836499101000204","is_oa":false,"landing_page_url":"https://doi.org/10.1177/027836499101000204","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:espace.library.uq.edu.au:UQ:307955","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4306402388","display_name":"Queensland's institutional digital repository (The University of Queensland)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I165143802","host_organization_name":"The University of Queensland","host_organization_lineage":["https://openalex.org/I165143802"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Journal Article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.800000011920929,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320320323","display_name":"University of Liverpool","ror":"https://ror.org/04xs57h96"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":8,"referenced_works":["https://openalex.org/W1485633210","https://openalex.org/W1977384549","https://openalex.org/W2009032932","https://openalex.org/W2040722147","https://openalex.org/W2064071544","https://openalex.org/W2067837933","https://openalex.org/W2115659120","https://openalex.org/W3143569053"],"related_works":["https://openalex.org/W2349561638","https://openalex.org/W2536148680","https://openalex.org/W2051802930","https://openalex.org/W2022764191","https://openalex.org/W2106509686","https://openalex.org/W4323924603","https://openalex.org/W4224084493","https://openalex.org/W2361428515","https://openalex.org/W4390144091","https://openalex.org/W2067603569"],"abstract_inverted_index":{"Screw":[0],"theory":[1],"is":[2],"used":[3],"to":[4,77],"establish":[5],"the":[6,85,95,100,121],"general":[7,96],"kinematic":[8],"prin":[9],"ciples":[10],"offully-in-series":[11],"and":[12,56,59,71,91,102,112],"fully-in-parallel":[13,39],"devices.":[14],"Through":[15],"screw":[16,89],"theory,":[17],"we":[18,93],"show":[19],"that":[20,98],"a":[21,25,34,38,52,61,66,78],"workpiece":[22,35,62,105],"grasped":[23,36,63],"by":[24,37,64,119],"fully-in-":[26],"series":[27],"manipulator":[28,40],"can":[29,41,68],"only":[30,42],"lose":[31,72],"freedom":[32,117],"while":[33],"gain":[43,70,101],"freedom.":[44,73],"Multi-finger":[45],"multi-freedom":[46],"grippers":[47],"or":[48],"robot":[49],"hands":[50],"use":[51],"mixture":[53],"of":[54,88,104,114],"in-parallel":[55],"serial":[57],"actuation,":[58],"so":[60],"such":[65],"device":[67],"both":[69],"These":[74],"linkages":[75],"belong":[76],"class":[79],"called":[80],"composite":[81],"serial/in-parallel":[82],"manipulators.":[83],"Using":[84],"well-established":[86],"concepts":[87],"systems":[90],"reciprocity,":[92],"identify":[94],"criteria":[97],"govern":[99],"loss":[103],"freedoms.":[106],"We":[107],"illustrate":[108],"how":[109],"these":[110],"gains":[111],"losses":[113],"work":[115],"piece":[116],"arise,":[118],"considering":[120],"Stanford/JPL":[122],"hand.":[123]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2013,"cited_by_count":2}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}