{"id":"https://openalex.org/W2064595515","doi":"https://doi.org/10.1177/027836499601500503","title":"Scaling of Direct Drive Robot Arms","display_name":"Scaling of Direct Drive Robot Arms","publication_year":1996,"publication_date":"1996-10-01","ids":{"openalex":"https://openalex.org/W2064595515","doi":"https://doi.org/10.1177/027836499601500503","mag":"2064595515"},"language":"en","primary_location":{"id":"doi:10.1177/027836499601500503","is_oa":false,"landing_page_url":"https://doi.org/10.1177/027836499601500503","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/A5074967911","display_name":"Blake Hannaford","orcid":"https://orcid.org/0000-0001-7370-4920"},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Blake Hannaford","raw_affiliation_strings":["Department of Electrical Engineering University of Washington Seattle, Washington 98195-2500","Department of Electrical Engineering, University of Washington Seattle, Washington, 98195-2500"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering University of Washington Seattle, Washington 98195-2500","institution_ids":["https://openalex.org/I201448701"]},{"raw_affiliation_string":"Department of Electrical Engineering, University of Washington Seattle, Washington, 98195-2500","institution_ids":["https://openalex.org/I201448701"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111792073","display_name":"Pierre-Henry Marbot","orcid":null},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Pierre-Henry Marbot","raw_affiliation_strings":["Department of Electrical Engineering University of Washington Seattle, Washington 98195-2500, 78401 Chatou Cedex, Paris, France"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering University of Washington Seattle, Washington 98195-2500, 78401 Chatou Cedex, Paris, France","institution_ids":["https://openalex.org/I201448701"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021895059","display_name":"Pietro Buttolo","orcid":null},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Pietro Buttolo","raw_affiliation_strings":["Department of Electrical Engineering University of Washington Seattle, Washington 98195-2500","Department of Electrical Engineering, University of Washington Seattle, Washington, 98195-2500"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering University of Washington Seattle, Washington 98195-2500","institution_ids":["https://openalex.org/I201448701"]},{"raw_affiliation_string":"Department of Electrical Engineering, University of Washington Seattle, Washington, 98195-2500","institution_ids":["https://openalex.org/I201448701"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058805046","display_name":"Manuel Moreyra","orcid":null},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Manuel Moreyra","raw_affiliation_strings":["Department of Electrical Engineering University of Washington Seattle, Washington 98195-2500","Department of Electrical Engineering, University of Washington Seattle, Washington, 98195-2500"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering University of Washington Seattle, Washington 98195-2500","institution_ids":["https://openalex.org/I201448701"]},{"raw_affiliation_string":"Department of Electrical Engineering, University of Washington Seattle, Washington, 98195-2500","institution_ids":["https://openalex.org/I201448701"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5026049899","display_name":"Steven C. Venema","orcid":null},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Steven Venema","raw_affiliation_strings":["Department of Electrical Engineering University of Washington Seattle, Washington 98195-2500","Department of Electrical Engineering, University of Washington Seattle, Washington, 98195-2500"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering University of Washington Seattle, Washington 98195-2500","institution_ids":["https://openalex.org/I201448701"]},{"raw_affiliation_string":"Department of Electrical Engineering, University of Washington Seattle, Washington, 98195-2500","institution_ids":["https://openalex.org/I201448701"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5074967911"],"corresponding_institution_ids":["https://openalex.org/I201448701"],"apc_list":null,"apc_paid":null,"fwci":1.6899,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":{"value":0.83899278,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"15","issue":"5","first_page":"459","last_page":"472"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"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"}},"topics":[{"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":0.9965000152587891,"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"}},{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9941999912261963,"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/scaling","display_name":"Scaling","score":0.7016364336013794},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.682731568813324},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6523151397705078},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6427115201950073},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5050089955329895},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.4265364408493042},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.41479235887527466},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.36231279373168945},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.35301730036735535},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2974488139152527},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2747734487056732},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2503136992454529},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2150399088859558},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.21100068092346191},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12607553601264954}],"concepts":[{"id":"https://openalex.org/C99844830","wikidata":"https://www.wikidata.org/wiki/Q102441924","display_name":"Scaling","level":2,"score":0.7016364336013794},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.682731568813324},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6523151397705078},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6427115201950073},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5050089955329895},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.4265364408493042},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.41479235887527466},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.36231279373168945},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.35301730036735535},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2974488139152527},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2747734487056732},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2503136992454529},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2150399088859558},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.21100068092346191},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12607553601264954},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1177/027836499601500503","is_oa":false,"landing_page_url":"https://doi.org/10.1177/027836499601500503","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:10.1.1.21.7856","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.21.7856","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://rcs.ee.washington.edu/BRL/publications/Rep093.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7699999809265137,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320310094","display_name":"University of Washington","ror":"https://ror.org/00cvxb145"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W1503679724","https://openalex.org/W1529410770","https://openalex.org/W1536939591","https://openalex.org/W1554436968","https://openalex.org/W1619650510","https://openalex.org/W1973805308","https://openalex.org/W1990777642","https://openalex.org/W2017904010","https://openalex.org/W2030073258","https://openalex.org/W2044179541","https://openalex.org/W2044465508","https://openalex.org/W2062691475","https://openalex.org/W2098685757","https://openalex.org/W2100179672","https://openalex.org/W2100983000","https://openalex.org/W2101018052","https://openalex.org/W2110415563","https://openalex.org/W2118327790","https://openalex.org/W2128750173","https://openalex.org/W2130654174","https://openalex.org/W2135743384","https://openalex.org/W2144265023","https://openalex.org/W2153024452","https://openalex.org/W2220368589","https://openalex.org/W3026166981","https://openalex.org/W3133543059","https://openalex.org/W3150444189","https://openalex.org/W4240536764","https://openalex.org/W4241330474","https://openalex.org/W4253001260"],"related_works":["https://openalex.org/W141820298","https://openalex.org/W2490690736","https://openalex.org/W4378770497","https://openalex.org/W2049584446","https://openalex.org/W2099333796","https://openalex.org/W1999058329","https://openalex.org/W3101820272","https://openalex.org/W4234906596","https://openalex.org/W4229591372","https://openalex.org/W2071544734"],"abstract_inverted_index":{"This":[0],"article":[1],"studies":[2],"the":[3,6,25,65,69,78,88],"ways":[4],"that":[5,43],"performance":[7,49,63,90],"of":[8,68,80,103,105,137,144],"direct":[9,31,53,60,130],"drive":[10,32,54,61,131],"(DD)":[11],"serial":[12,132],"robots":[13],"changes":[14],"as":[15],"system":[16],"size":[17],"is":[18,45,64],"changed.":[19],"We":[20,72,96],"are":[21,153],"particularly":[22],"interested":[23],"in":[24],"physical":[26,48],"laws":[27],"for":[28,59,120],"scaling":[29,39],"down":[30],"arms":[33],"to":[34,51],"small":[35,52,110],"sizes.":[36],"Using":[37],"theoretical":[38],"analysis,":[40],"we":[41,84,124],"show":[42,73],"there":[44],"a":[46,126,135,141],"net":[47],"advantage":[50],"arms.":[55],"A":[56],"key":[57],"factor":[58],"robot":[62],"torque-to-mass":[66],"ratio":[67],"actuators,":[70,82],"U.":[71,95],"how":[74,87],"U":[75],"varies":[76,91],"with":[77,92,100,117],"scale":[79,93],"DD":[81],"and":[83,94,114,140],"also":[85],"calculate":[86],"dynamic":[89],"compare":[97,115],"our":[98],"calculations":[99],"experimental":[101],"measurements":[102],"actuators":[104],"various":[106],"sizes":[107],"taken":[108],"from":[109],"hard":[111],"disk":[112],"drives":[113],"them":[116],"published":[118],"data":[119],"larger":[121],"motors.":[122],"Finally,":[123],"describe":[125],"prototype,":[127],"five-":[128],"axis,":[129],"arm":[133],"having":[134],"reach":[136],"10":[138],"cm":[139,147],"work":[142],"volume":[143],"about":[145],"136":[146],"3":[148],".":[149],"Some":[150],"potential":[151],"applications":[152],"briefly":[154],"discussed.":[155]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"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"}
