{"id":"https://openalex.org/W2123253447","doi":"https://doi.org/10.1177/02783649922066394","title":"An Explanation of Never-Special Assembly Changing Motions for 3\u20133 Parallel Manipulators","display_name":"An Explanation of Never-Special Assembly Changing Motions for 3\u20133 Parallel Manipulators","publication_year":1999,"publication_date":"1999-06-01","ids":{"openalex":"https://openalex.org/W2123253447","doi":"https://doi.org/10.1177/02783649922066394","mag":"2123253447"},"language":"en","primary_location":{"id":"doi:10.1177/02783649922066394","is_oa":false,"landing_page_url":"https://doi.org/10.1177/02783649922066394","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/A5019369861","display_name":"P. R. Mc\u0102ree","orcid":"https://orcid.org/0000-0001-9259-0615"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"P. R. McAree","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5030993413","display_name":"R.W. Daniel","orcid":"https://orcid.org/0000-0002-8666-0979"},"institutions":[{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"R. W. Daniel","raw_affiliation_strings":["Department of Engineering Science, The University of Oxford, Oxford,                         OX1-3PJ, UK","Department of Engineering Science, The University of Oxford, Oxford, OX1-3PJ, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Engineering Science, The University of Oxford, Oxford,                         OX1-3PJ, UK","institution_ids":["https://openalex.org/I40120149"]},{"raw_affiliation_string":"Department of Engineering Science, The University of Oxford, Oxford, OX1-3PJ, UK","institution_ids":["https://openalex.org/I40120149"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.7929,"has_fulltext":false,"cited_by_count":86,"citation_normalized_percentile":{"value":0.76266178,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"18","issue":"6","first_page":"556","last_page":"574"},"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9894000291824341,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9865999817848206,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/linkage","display_name":"Linkage (software)","score":0.6422854661941528},{"id":"https://openalex.org/keywords/base","display_name":"Base (topology)","score":0.641789436340332},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.6142975091934204},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.6079657077789307},{"id":"https://openalex.org/keywords/conjecture","display_name":"Conjecture","score":0.5047301054000854},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5001630783081055},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.4923964738845825},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.46665239334106445},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4049924910068512},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.3561430871486664},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3202316164970398},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.27822500467300415},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24530580639839172},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.23998087644577026},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.17230522632598877},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.13235968351364136},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.08811613917350769}],"concepts":[{"id":"https://openalex.org/C31266012","wikidata":"https://www.wikidata.org/wiki/Q6554340","display_name":"Linkage (software)","level":3,"score":0.6422854661941528},{"id":"https://openalex.org/C42058472","wikidata":"https://www.wikidata.org/wiki/Q810214","display_name":"Base (topology)","level":2,"score":0.641789436340332},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.6142975091934204},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.6079657077789307},{"id":"https://openalex.org/C2780990831","wikidata":"https://www.wikidata.org/wiki/Q319141","display_name":"Conjecture","level":2,"score":0.5047301054000854},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5001630783081055},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.4923964738845825},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.46665239334106445},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4049924910068512},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.3561430871486664},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3202316164970398},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.27822500467300415},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24530580639839172},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.23998087644577026},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.17230522632598877},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.13235968351364136},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.08811613917350769},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1177/02783649922066394","is_oa":false,"landing_page_url":"https://doi.org/10.1177/02783649922066394","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:307699","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"},{"id":"pmh:oai:ora.ox.ac.uk:uuid:159c1523-b801-4960-ba60-61d383ad7b98","is_oa":false,"landing_page_url":"https://ora.ox.ac.uk/objects/uuid:159c1523-b801-4960-ba60-61d383ad7b98","pdf_url":null,"source":{"id":"https://openalex.org/S4306402636","display_name":"Oxford University Research Archive (ORA) (University of Oxford)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I40120149","host_organization_name":"University of Oxford","host_organization_lineage":["https://openalex.org/I40120149"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Symplectic Elements at Oxford","raw_type":"Journal article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.8199999928474426}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W607860444","https://openalex.org/W1545748428","https://openalex.org/W1558446093","https://openalex.org/W1597009130","https://openalex.org/W1928249173","https://openalex.org/W1977145560","https://openalex.org/W1981141114","https://openalex.org/W1992810839","https://openalex.org/W1997241340","https://openalex.org/W1997777356","https://openalex.org/W1998678324","https://openalex.org/W2001979703","https://openalex.org/W2012329384","https://openalex.org/W2039446760","https://openalex.org/W2055480072","https://openalex.org/W2061693744","https://openalex.org/W2062264317","https://openalex.org/W2070908943","https://openalex.org/W2074635908","https://openalex.org/W2085356748","https://openalex.org/W2086765807","https://openalex.org/W2135521313","https://openalex.org/W2798813531","https://openalex.org/W3004879478","https://openalex.org/W4212765710","https://openalex.org/W4233868670","https://openalex.org/W4246275161","https://openalex.org/W4246743304","https://openalex.org/W6635553384","https://openalex.org/W6750458900"],"related_works":["https://openalex.org/W2016827119","https://openalex.org/W2050901119","https://openalex.org/W1997122515","https://openalex.org/W2393977490","https://openalex.org/W2014963539","https://openalex.org/W2366856298","https://openalex.org/W2166323405","https://openalex.org/W2038930466","https://openalex.org/W2376007266","https://openalex.org/W2067594477"],"abstract_inverted_index":{"When":[0],"the":[1,18,40,53,61,95,125,129],"leg":[2],"rods":[3],"of":[4,65,81],"a":[5,45,50,78,88],"fully":[6],"in-parallel":[7],"manipulator":[8,127],"are":[9],"fixed":[10],"in":[11,23],"their":[12,92],"lengths,":[13],"it":[14,28],"is":[15,42],"usual":[16],"that":[17,30,39,48,101,119],"device":[19],"can":[20,35,106],"be":[21,107],"assembled":[22],"several":[24],"distinct":[25],"ways.":[26],"Sometimes":[27],"happens":[29],"motion":[31,67],"between":[32],"such":[33,38,66],"assemblies":[34],"take":[36],"place":[37],"linkage":[41],"never":[43],"at":[44],"special":[46],"configuration;":[47],"is,":[49],"configuration":[51],"where":[52],"moving-platform":[54],"body":[55],"acquires":[56],"uncontrollable":[57],"freedom":[58],"relative":[59],"to":[60],"base.":[62],"The":[63],"possibility":[64],"has":[68,128],"implications":[69],"for":[70,91,124],"control.":[71],"Focusing":[72],"on":[73],"3\u20133":[74,96],"devices,":[75],"we":[76,99,117],"present":[77],"geometric":[79],"explanation":[80],"how":[82],"these":[83],"motions":[84,105],"arise,":[85],"and":[86,112,116],"give":[87],"sufficient":[89],"condition":[90],"existence.":[93],"For":[94],"planar-motion":[97],"device,":[98],"show":[100],"never-special":[102],"assembly":[103],"changing":[104],"excluded":[108],"by":[109],"making":[110],"platform":[111],"base":[113],"triangles":[114],"similar,":[115],"conjecture":[118],"appropriate,":[120],"perhaps":[121],"identical,":[122],"specialization":[123],"octahedral":[126],"same":[130],"effect.":[131]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":4},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":5},{"year":2012,"cited_by_count":10}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}