{"id":"https://openalex.org/W3119001371","doi":"https://doi.org/10.3390/robotics10010014","title":"Structural Synthesis of Lower-Class Robot Manipulators with General Constraint One","display_name":"Structural Synthesis of Lower-Class Robot Manipulators with General Constraint One","publication_year":2021,"publication_date":"2021-01-11","ids":{"openalex":"https://openalex.org/W3119001371","doi":"https://doi.org/10.3390/robotics10010014","mag":"3119001371"},"language":"en","primary_location":{"id":"doi:10.3390/robotics10010014","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics10010014","pdf_url":"https://www.mdpi.com/2218-6581/10/1/14/pdf?version=1612419673","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2218-6581/10/1/14/pdf?version=1612419673","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5027371959","display_name":"Rasim Alizade","orcid":null},"institutions":[{"id":"https://openalex.org/I26889942","display_name":"Azerbaijan Technical University","ror":"https://ror.org/01qe1a488","country_code":"AZ","type":"education","lineage":["https://openalex.org/I26889942"]}],"countries":["AZ"],"is_corresponding":true,"raw_author_name":"Rasim Alizade","raw_affiliation_strings":["Theory of Machines and Mechanisms Department, Azerbaijan Technical University, Baku AZ1073, Azerbaijan"],"affiliations":[{"raw_affiliation_string":"Theory of Machines and Mechanisms Department, Azerbaijan Technical University, Baku AZ1073, Azerbaijan","institution_ids":["https://openalex.org/I26889942"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041446373","display_name":"Suleyman Soltanov","orcid":null},"institutions":[{"id":"https://openalex.org/I26889942","display_name":"Azerbaijan Technical University","ror":"https://ror.org/01qe1a488","country_code":"AZ","type":"education","lineage":["https://openalex.org/I26889942"]}],"countries":["AZ"],"is_corresponding":true,"raw_author_name":"Suleyman Soltanov","raw_affiliation_strings":["Theory of Machines and Mechanisms Department, Azerbaijan Technical University, Baku AZ1073, Azerbaijan"],"affiliations":[{"raw_affiliation_string":"Theory of Machines and Mechanisms Department, Azerbaijan Technical University, Baku AZ1073, Azerbaijan","institution_ids":["https://openalex.org/I26889942"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5045323230","display_name":"Abusalat Hamidov","orcid":null},"institutions":[{"id":"https://openalex.org/I26889942","display_name":"Azerbaijan Technical University","ror":"https://ror.org/01qe1a488","country_code":"AZ","type":"education","lineage":["https://openalex.org/I26889942"]}],"countries":["AZ"],"is_corresponding":false,"raw_author_name":"Abusalat Hamidov","raw_affiliation_strings":["Theory of Machines and Mechanisms Department, Azerbaijan Technical University, Baku AZ1073, Azerbaijan"],"affiliations":[{"raw_affiliation_string":"Theory of Machines and Mechanisms Department, Azerbaijan Technical University, Baku AZ1073, Azerbaijan","institution_ids":["https://openalex.org/I26889942"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5027371959","https://openalex.org/A5041446373"],"corresponding_institution_ids":["https://openalex.org/I26889942"],"apc_list":{"value":1600,"currency":"CHF","value_usd":1732},"apc_paid":{"value":1600,"currency":"CHF","value_usd":1732},"fwci":1.1061,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.76148161,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"10","issue":"1","first_page":"14","last_page":"14"},"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":0.9958000183105469,"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":0.9952999949455261,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.8914787173271179},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.7963037490844727},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5541050434112549},{"id":"https://openalex.org/keywords/class","display_name":"Class (philosophy)","score":0.5349847674369812},{"id":"https://openalex.org/keywords/kinematic-diagram","display_name":"Kinematic diagram","score":0.5164918899536133},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4663820266723633},{"id":"https://openalex.org/keywords/plane","display_name":"Plane (geometry)","score":0.4189736247062683},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.4046085476875305},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3896976113319397},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3535175919532776},{"id":"https://openalex.org/keywords/kinematic-chain","display_name":"Kinematic chain","score":0.2702433466911316},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23799440264701843},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.21644890308380127},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.17978215217590332},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1696060597896576},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.15097108483314514},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1077607274055481}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.8914787173271179},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.7963037490844727},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5541050434112549},{"id":"https://openalex.org/C2777212361","wikidata":"https://www.wikidata.org/wiki/Q5127848","display_name":"Class (philosophy)","level":2,"score":0.5349847674369812},{"id":"https://openalex.org/C171046052","wikidata":"https://www.wikidata.org/wiki/Q29301","display_name":"Kinematic diagram","level":4,"score":0.5164918899536133},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4663820266723633},{"id":"https://openalex.org/C17825722","wikidata":"https://www.wikidata.org/wiki/Q17285","display_name":"Plane (geometry)","level":2,"score":0.4189736247062683},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4046085476875305},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3896976113319397},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3535175919532776},{"id":"https://openalex.org/C62837456","wikidata":"https://www.wikidata.org/wiki/Q678308","display_name":"Kinematic chain","level":3,"score":0.2702433466911316},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23799440264701843},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.21644890308380127},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.17978215217590332},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1696060597896576},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.15097108483314514},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1077607274055481}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.3390/robotics10010014","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics10010014","pdf_url":"https://www.mdpi.com/2218-6581/10/1/14/pdf?version=1612419673","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:4e43cae298d44e9ea5971496730d22c5","is_oa":true,"landing_page_url":"https://doaj.org/article/4e43cae298d44e9ea5971496730d22c5","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics, Vol 10, Iss 1, p 14 (2021)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/2218-6581/10/1/14/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/robotics10010014","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics; Volume 10; Issue 1; Pages: 14","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/robotics10010014","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics10010014","pdf_url":"https://www.mdpi.com/2218-6581/10/1/14/pdf?version=1612419673","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3119001371.pdf","grobid_xml":"https://content.openalex.org/works/W3119001371.grobid-xml"},"referenced_works_count":14,"referenced_works":["https://openalex.org/W1973320058","https://openalex.org/W2002552358","https://openalex.org/W2033519776","https://openalex.org/W2039106280","https://openalex.org/W2039724328","https://openalex.org/W2056463772","https://openalex.org/W2070409930","https://openalex.org/W2077282916","https://openalex.org/W2077487821","https://openalex.org/W2094514711","https://openalex.org/W2105239501","https://openalex.org/W2247401435","https://openalex.org/W2936237397","https://openalex.org/W4234497146"],"related_works":["https://openalex.org/W2972304526","https://openalex.org/W2331850854","https://openalex.org/W1990366139","https://openalex.org/W2109573574","https://openalex.org/W4206303049","https://openalex.org/W2170724130","https://openalex.org/W586134986","https://openalex.org/W3161599300","https://openalex.org/W2005471069","https://openalex.org/W2096209447"],"abstract_inverted_index":{"In":[0],"this":[1,70],"research,":[2],"the":[3,24,43,93],"structural":[4,74],"synthesis":[5,47],"of":[6,18,35,48,60,86],"lower-class":[7],"robot":[8,53,88],"manipulators":[9,54,89],"with":[10,76],"general":[11,77],"constraint":[12,78],"one":[13],"is":[14,55],"investigated.":[15],"The":[16],"number":[17,26],"constraints":[19],"d":[20],"=":[21,28],"1":[22],"and":[23,32,51,83],"mobility":[25],"\u03bb":[27],"5":[29],"for":[30],"sphere\u2013sphere":[31],"sphere\u2013plane":[33],"combinations":[34],"higher":[36,61],"kinematic":[37,62,66,81],"pairs":[38,63],"are":[39,90],"investigated":[40,56],"by":[41,57],"using":[42,58,69],"analytical":[44],"approach.":[45],"Structural":[46],"new":[49],"first-":[50],"second-class":[52],"transformations":[59],"to":[64],"lower":[65],"pairs.":[67],"Therefore,":[68],"approach,":[71],"we":[72],"obtain":[73],"groups":[75],"one.":[79],"Further,":[80],"structures":[82],"physical":[84],"models":[85],"overconstrained":[87],"presented":[91],"in":[92],"research.":[94]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":3}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}
