{"id":"https://openalex.org/W3188371914","doi":"https://doi.org/10.3390/robotics10030099","title":"Kinematic Synthesis and Analysis of the RoboMech Class Parallel Manipulator with Two Grippers","display_name":"Kinematic Synthesis and Analysis of the RoboMech Class Parallel Manipulator with Two Grippers","publication_year":2021,"publication_date":"2021-08-03","ids":{"openalex":"https://openalex.org/W3188371914","doi":"https://doi.org/10.3390/robotics10030099","mag":"3188371914"},"language":"en","primary_location":{"id":"doi:10.3390/robotics10030099","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics10030099","pdf_url":"https://www.mdpi.com/2218-6581/10/3/99/pdf?version=1628747790","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/2218-6581/10/3/99/pdf?version=1628747790","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5091069274","display_name":"Zhumadil Baigunchekov","orcid":"https://orcid.org/0000-0002-5807-0541"},"institutions":[{"id":"https://openalex.org/I185571130","display_name":"Al-Farabi Kazakh National University","ror":"https://ror.org/03q0vrn42","country_code":"KZ","type":"education","lineage":["https://openalex.org/I185571130"]},{"id":"https://openalex.org/I204275683","display_name":"Satbayev University","ror":"https://ror.org/020cpsb96","country_code":"KZ","type":"education","lineage":["https://openalex.org/I204275683"]}],"countries":["KZ"],"is_corresponding":false,"raw_author_name":"Zhumadil Baigunchekov","raw_affiliation_strings":["Department of Mechanical Engineering and Modeling, Satbayev University, 22a Satpaev Str., Almaty 050013, Kazakhstan","Department of Mechanics, Al\u2013Farabi Kazakh National University, 71 Al\u2013Farabi Ave., Almaty 050040, Kazakhstan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Modeling, Satbayev University, 22a Satpaev Str., Almaty 050013, Kazakhstan","institution_ids":["https://openalex.org/I204275683"]},{"raw_affiliation_string":"Department of Mechanics, Al\u2013Farabi Kazakh National University, 71 Al\u2013Farabi Ave., Almaty 050040, Kazakhstan","institution_ids":["https://openalex.org/I185571130"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040555464","display_name":"Med Amine Laribi","orcid":"https://orcid.org/0000-0003-0797-7669"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I171246369","display_name":"\u00c9cole Nationale Sup\u00e9rieure de M\u00e9canique et d'A\u00e9rotechnique","ror":"https://ror.org/04jx68594","country_code":"FR","type":"facility","lineage":["https://openalex.org/I171246369"]},{"id":"https://openalex.org/I2802931824","display_name":"Institut Pprime","ror":"https://ror.org/05vjdsn22","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I171246369","https://openalex.org/I2802931824","https://openalex.org/I32881790","https://openalex.org/I4210095849"]},{"id":"https://openalex.org/I32881790","display_name":"Universit\u00e9 de Poitiers","ror":"https://ror.org/04xhy8q59","country_code":"FR","type":"education","lineage":["https://openalex.org/I32881790"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"Med Amine Laribi","raw_affiliation_strings":["Department GMSC, Institut PPRIME, CNRS, Universit\u00e9 de Poitiers, ENSMA, UPR 3346, 86962 Poitiers, France"],"raw_orcid":"https://orcid.org/0000-0003-0797-7669","affiliations":[{"raw_affiliation_string":"Department GMSC, Institut PPRIME, CNRS, Universit\u00e9 de Poitiers, ENSMA, UPR 3346, 86962 Poitiers, France","institution_ids":["https://openalex.org/I2802931824","https://openalex.org/I171246369","https://openalex.org/I32881790","https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012360700","display_name":"Azamat Mustafa","orcid":"https://orcid.org/0000-0002-4751-7141"},"institutions":[{"id":"https://openalex.org/I204275683","display_name":"Satbayev University","ror":"https://ror.org/020cpsb96","country_code":"KZ","type":"education","lineage":["https://openalex.org/I204275683"]}],"countries":["KZ"],"is_corresponding":true,"raw_author_name":"Azamat Mustafa","raw_affiliation_strings":["Department of Mechanical Engineering and Modeling, Satbayev University, 22a Satpaev Str., Almaty 050013, Kazakhstan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Modeling, Satbayev University, 22a Satpaev Str., Almaty 050013, Kazakhstan","institution_ids":["https://openalex.org/I204275683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068983951","display_name":"Abzal Kassinov","orcid":null},"institutions":[{"id":"https://openalex.org/I185571130","display_name":"Al-Farabi Kazakh National University","ror":"https://ror.org/03q0vrn42","country_code":"KZ","type":"education","lineage":["https://openalex.org/I185571130"]}],"countries":["KZ"],"is_corresponding":false,"raw_author_name":"Abzal Kassinov","raw_affiliation_strings":["Department of Mechanics, Al\u2013Farabi Kazakh National University, 71 Al\u2013Farabi Ave., Almaty 050040, Kazakhstan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanics, Al\u2013Farabi Kazakh National University, 71 Al\u2013Farabi Ave., Almaty 050040, Kazakhstan","institution_ids":["https://openalex.org/I185571130"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5012360700","https://openalex.org/A5040555464"],"corresponding_institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I171246369","https://openalex.org/I204275683","https://openalex.org/I2802931824","https://openalex.org/I32881790"],"apc_list":{"value":1600,"currency":"CHF","value_usd":1732},"apc_paid":{"value":1600,"currency":"CHF","value_usd":1732},"fwci":0.6938,"has_fulltext":true,"cited_by_count":5,"citation_normalized_percentile":{"value":0.69562658,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"10","issue":"3","first_page":"99","last_page":"99"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9995999932289124,"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":0.9995999932289124,"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/T11301","display_name":"Advanced Surface Polishing Techniques","score":0.9891999959945679,"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/T11245","display_name":"Advanced Numerical Analysis Techniques","score":0.9300000071525574,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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/grippers","display_name":"Grippers","score":0.819288432598114},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.766674280166626},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.5358333587646484},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.5291332006454468},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4863794147968292},{"id":"https://openalex.org/keywords/stamping","display_name":"Stamping","score":0.45132720470428467},{"id":"https://openalex.org/keywords/base","display_name":"Base (topology)","score":0.42814701795578003},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4037333130836487},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.35203665494918823},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.33943942189216614},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.3050912618637085},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.279121994972229},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23412677645683289},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.20471039414405823},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.18376865983009338},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.18237930536270142},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.09244534373283386}],"concepts":[{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.819288432598114},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.766674280166626},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.5358333587646484},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.5291332006454468},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4863794147968292},{"id":"https://openalex.org/C144444463","wikidata":"https://www.wikidata.org/wiki/Q9363879","display_name":"Stamping","level":2,"score":0.45132720470428467},{"id":"https://openalex.org/C42058472","wikidata":"https://www.wikidata.org/wiki/Q810214","display_name":"Base (topology)","level":2,"score":0.42814701795578003},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4037333130836487},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.35203665494918823},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.33943942189216614},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.3050912618637085},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.279121994972229},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23412677645683289},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.20471039414405823},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.18376865983009338},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.18237930536270142},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.09244534373283386},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.3390/robotics10030099","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics10030099","pdf_url":"https://www.mdpi.com/2218-6581/10/3/99/pdf?version=1628747790","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:HAL:hal-04086598v1","is_oa":true,"landing_page_url":"https://hal.science/hal-04086598","pdf_url":null,"source":{"id":"https://openalex.org/S4406922466","display_name":"SPIRE - Sciences Po Institutional REpository","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"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, 2021, 10 (3), pp.99. ⟨10.3390/robotics10030099⟩","raw_type":"Journal articles"},{"id":"pmh:oai:doaj.org/article:3f1e8189c0c54bb0afe50b4adf4fe132","is_oa":true,"landing_page_url":"https://doaj.org/article/3f1e8189c0c54bb0afe50b4adf4fe132","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 3, p 99 (2021)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/2218-6581/10/3/99/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/robotics10030099","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","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/robotics10030099","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics10030099","pdf_url":"https://www.mdpi.com/2218-6581/10/3/99/pdf?version=1628747790","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":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.8399999737739563}],"awards":[],"funders":[{"id":"https://openalex.org/F4320322726","display_name":"Ministry of Education and Science of the Republic of Kazakhstan","ror":"https://ror.org/03pj6ge82"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3188371914.pdf","grobid_xml":"https://content.openalex.org/works/W3188371914.grobid-xml"},"referenced_works_count":17,"referenced_works":["https://openalex.org/W1256870269","https://openalex.org/W2023885065","https://openalex.org/W2055133353","https://openalex.org/W2072073129","https://openalex.org/W2126508459","https://openalex.org/W2135519429","https://openalex.org/W2145840420","https://openalex.org/W2551859211","https://openalex.org/W2888730209","https://openalex.org/W2889262836","https://openalex.org/W2950637735","https://openalex.org/W3035992495","https://openalex.org/W3046679190","https://openalex.org/W3048922469","https://openalex.org/W3198343999","https://openalex.org/W4248960794","https://openalex.org/W7037854162"],"related_works":["https://openalex.org/W2258669850","https://openalex.org/W1513401665","https://openalex.org/W4283263216","https://openalex.org/W3160851599","https://openalex.org/W2808090143","https://openalex.org/W2527333706","https://openalex.org/W1976950967","https://openalex.org/W2076754931","https://openalex.org/W1564079087","https://openalex.org/W1516164006"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"methods":[3],"of":[4,9,58,80,93,105,112,121,124,131,135,139],"kinematic":[5,43],"synthesis":[6],"and":[7,39,82,127,133,137],"analysis":[8],"the":[10,103,106,113,119,122,125,140],"RoboMech":[11],"class":[12],"parallel":[13],"manipulator":[14],"(PM)":[15],"with":[16,33,48,77,89,142],"two":[17,29,37,49,62,74,78,107,143],"grippers":[18],"(end":[19],"effectors)":[20],"are":[21,116],"presented.":[22],"This":[23],"PM":[24,47,141],"is":[25,85],"formed":[26],"by":[27],"connecting":[28],"output":[30,108],"objects":[31],"(grippers)":[32],"a":[34,67,86],"base":[35],"using":[36],"passive":[38],"one":[40],"negative":[41,83,91,96,114],"closing":[42],"chains":[44],"(CKCs).":[45],"A":[46,95],"end":[50,144],"effectors":[51,145],"can":[52],"be":[53],"used":[54],"for":[55],"reloading":[56],"operations":[57],"stamped":[59],"products":[60],"between":[61],"adjacent":[63],"main":[64],"technologies":[65],"in":[66],"cold":[68],"stamping":[69],"line.":[70],"Passive":[71],"CKCs":[72],"represent":[73],"serial":[75],"manipulators":[76],"degrees":[79,92],"freedom,":[81],"CKC":[84,97,115],"three-joined":[87],"link":[88],"three":[90,99],"freedom.":[94],"imposes":[98],"geometric":[100],"constraints":[101],"on":[102,118],"movements":[104],"objects.":[109],"Geometric":[110],"parameters":[111],"determined":[117],"basis":[120],"problems":[123],"Chebyshev":[126],"least-square":[128],"approximations.":[129],"Problems":[130],"positions":[132],"analogues":[134],"velocities":[136],"accelerations":[138],"have":[146],"been":[147],"solved.":[148]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}