{"id":"https://openalex.org/W4200302116","doi":"https://doi.org/10.3390/robotics11010004","title":"Mechatronic Model of a Compliant 3PRS Parallel Manipulator","display_name":"Mechatronic Model of a Compliant 3PRS Parallel Manipulator","publication_year":2021,"publication_date":"2021-12-28","ids":{"openalex":"https://openalex.org/W4200302116","doi":"https://doi.org/10.3390/robotics11010004"},"language":"en","primary_location":{"id":"doi:10.3390/robotics11010004","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics11010004","pdf_url":"https://www.mdpi.com/2218-6581/11/1/4/pdf?version=1640840838","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/2218-6581/11/1/4/pdf?version=1640840838","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5055951758","display_name":"A. Ruiz","orcid":"https://orcid.org/0000-0002-1094-7092"},"institutions":[{"id":"https://openalex.org/I169108374","display_name":"University of the Basque Country","ror":"https://ror.org/000xsnr85","country_code":"ES","type":"education","lineage":["https://openalex.org/I169108374"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Antonio Ruiz","raw_affiliation_strings":["Department of Mechanical Engineering, Faculty of Engineering, University of the Basque Country UPV/EHU, Plaza Ingeniero Torres Quevedo, 48013 Bilbao, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Faculty of Engineering, University of the Basque Country UPV/EHU, Plaza Ingeniero Torres Quevedo, 48013 Bilbao, Spain","institution_ids":["https://openalex.org/I169108374"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057020076","display_name":"Francisco J. Campa","orcid":"https://orcid.org/0000-0002-6916-9467"},"institutions":[{"id":"https://openalex.org/I169108374","display_name":"University of the Basque Country","ror":"https://ror.org/000xsnr85","country_code":"ES","type":"education","lineage":["https://openalex.org/I169108374"]}],"countries":["ES"],"is_corresponding":true,"raw_author_name":"Francisco J. Campa","raw_affiliation_strings":["Department of Mechanical Engineering, Faculty of Engineering, University of the Basque Country UPV/EHU, Plaza Ingeniero Torres Quevedo, 48013 Bilbao, Spain"],"raw_orcid":"https://orcid.org/0000-0002-6916-9467","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Faculty of Engineering, University of the Basque Country UPV/EHU, Plaza Ingeniero Torres Quevedo, 48013 Bilbao, Spain","institution_ids":["https://openalex.org/I169108374"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056566607","display_name":"\u00d3scar Altuzarra","orcid":"https://orcid.org/0000-0001-7145-4833"},"institutions":[{"id":"https://openalex.org/I169108374","display_name":"University of the Basque Country","ror":"https://ror.org/000xsnr85","country_code":"ES","type":"education","lineage":["https://openalex.org/I169108374"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Oscar Altuzarra","raw_affiliation_strings":["Department of Mechanical Engineering, Faculty of Engineering, University of the Basque Country UPV/EHU, Plaza Ingeniero Torres Quevedo, 48013 Bilbao, Spain"],"raw_orcid":"https://orcid.org/0000-0001-7145-4833","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Faculty of Engineering, University of the Basque Country UPV/EHU, Plaza Ingeniero Torres Quevedo, 48013 Bilbao, Spain","institution_ids":["https://openalex.org/I169108374"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080544575","display_name":"Saioa Herrero","orcid":"https://orcid.org/0000-0002-1747-729X"},"institutions":[{"id":"https://openalex.org/I169108374","display_name":"University of the Basque Country","ror":"https://ror.org/000xsnr85","country_code":"ES","type":"education","lineage":["https://openalex.org/I169108374"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Saioa Herrero","raw_affiliation_strings":["Department of Mechanical Engineering, Faculty of Engineering, University of the Basque Country UPV/EHU, Plaza Ingeniero Torres Quevedo, 48013 Bilbao, Spain"],"raw_orcid":"https://orcid.org/0000-0002-1747-729X","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Faculty of Engineering, University of the Basque Country UPV/EHU, Plaza Ingeniero Torres Quevedo, 48013 Bilbao, Spain","institution_ids":["https://openalex.org/I169108374"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5070269527","display_name":"Mikel D\u00edez","orcid":"https://orcid.org/0000-0002-3364-5003"},"institutions":[{"id":"https://openalex.org/I169108374","display_name":"University of the Basque Country","ror":"https://ror.org/000xsnr85","country_code":"ES","type":"education","lineage":["https://openalex.org/I169108374"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Mikel Diez","raw_affiliation_strings":["Department of Mechanical Engineering, Faculty of Engineering, University of the Basque Country UPV/EHU, Plaza Ingeniero Torres Quevedo, 48013 Bilbao, Spain"],"raw_orcid":"https://orcid.org/0000-0002-3364-5003","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Faculty of Engineering, University of the Basque Country UPV/EHU, Plaza Ingeniero Torres Quevedo, 48013 Bilbao, Spain","institution_ids":["https://openalex.org/I169108374"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5057020076"],"corresponding_institution_ids":["https://openalex.org/I169108374"],"apc_list":{"value":1600,"currency":"CHF","value_usd":1732},"apc_paid":{"value":1600,"currency":"CHF","value_usd":1732},"fwci":0.555,"has_fulltext":true,"cited_by_count":5,"citation_normalized_percentile":{"value":0.67433083,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"11","issue":"1","first_page":"4","last_page":"4"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11525","display_name":"Piezoelectric Actuators and Control","score":1.0,"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/T11525","display_name":"Piezoelectric Actuators and Control","score":1.0,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","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/T11749","display_name":"Iterative Learning Control Systems","score":0.9909999966621399,"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/revolute-joint","display_name":"Revolute joint","score":0.7393487095832825},{"id":"https://openalex.org/keywords/mechatronics","display_name":"Mechatronics","score":0.7035277485847473},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6841793060302734},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.654749870300293},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.6175434589385986},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6013829708099365},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.49886107444763184},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.48626482486724854},{"id":"https://openalex.org/keywords/stewart-platform","display_name":"Stewart platform","score":0.47051921486854553},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.4307365417480469},{"id":"https://openalex.org/keywords/deflection","display_name":"Deflection (physics)","score":0.428712397813797},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4262462556362152},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.42562317848205566},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.28833872079849243},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16457557678222656},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11865529417991638},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.09083166718482971},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08710098266601562}],"concepts":[{"id":"https://openalex.org/C5643039","wikidata":"https://www.wikidata.org/wiki/Q3819341","display_name":"Revolute joint","level":3,"score":0.7393487095832825},{"id":"https://openalex.org/C28704281","wikidata":"https://www.wikidata.org/wiki/Q180165","display_name":"Mechatronics","level":2,"score":0.7035277485847473},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6841793060302734},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.654749870300293},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.6175434589385986},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6013829708099365},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.49886107444763184},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.48626482486724854},{"id":"https://openalex.org/C69769044","wikidata":"https://www.wikidata.org/wiki/Q2041113","display_name":"Stewart platform","level":3,"score":0.47051921486854553},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.4307365417480469},{"id":"https://openalex.org/C2781355719","wikidata":"https://www.wikidata.org/wiki/Q2080698","display_name":"Deflection (physics)","level":2,"score":0.428712397813797},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4262462556362152},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.42562317848205566},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.28833872079849243},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16457557678222656},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11865529417991638},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.09083166718482971},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08710098266601562},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.3390/robotics11010004","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics11010004","pdf_url":"https://www.mdpi.com/2218-6581/11/1/4/pdf?version=1640840838","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:addi.ehu.es:10810/55601","is_oa":true,"landing_page_url":"http://hdl.handle.net/10810/55601","pdf_url":null,"source":{"id":"https://openalex.org/S4306401964","display_name":"Communities in ADDI (University of the Basque Country)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I169108374","host_organization_name":"University of the Basque Country","host_organization_lineage":["https://openalex.org/I169108374"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:doaj.org/article:04e6d226ce3544f6bb4e8800c970ec7a","is_oa":true,"landing_page_url":"https://doaj.org/article/04e6d226ce3544f6bb4e8800c970ec7a","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 11, Iss 1, p 4 (2021)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/2218-6581/11/1/4/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/robotics11010004","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 11; Issue 1; Pages: 4","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/robotics11010004","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics11010004","pdf_url":"https://www.mdpi.com/2218-6581/11/1/4/pdf?version=1640840838","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":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.5}],"awards":[{"id":"https://openalex.org/G3462393921","display_name":null,"funder_award_id":"PID2019-105262RB-I00","funder_id":"https://openalex.org/F4320322930","funder_display_name":"Ministerio de Ciencia e Innovaci\u00f3n"}],"funders":[{"id":"https://openalex.org/F4320322930","display_name":"Ministerio de Ciencia e Innovaci\u00f3n","ror":"https://ror.org/034900433"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4200302116.pdf","grobid_xml":"https://content.openalex.org/works/W4200302116.grobid-xml"},"referenced_works_count":23,"referenced_works":["https://openalex.org/W1963551751","https://openalex.org/W1967594172","https://openalex.org/W1977645791","https://openalex.org/W1980709014","https://openalex.org/W1986789340","https://openalex.org/W2010134150","https://openalex.org/W2037802181","https://openalex.org/W2058174034","https://openalex.org/W2062195789","https://openalex.org/W2071244795","https://openalex.org/W2077568148","https://openalex.org/W2089243169","https://openalex.org/W2102023741","https://openalex.org/W2130752539","https://openalex.org/W2135269588","https://openalex.org/W2516328799","https://openalex.org/W2590299742","https://openalex.org/W2616206788","https://openalex.org/W2890507810","https://openalex.org/W2962804366","https://openalex.org/W3137732569","https://openalex.org/W4231327487","https://openalex.org/W4244382749"],"related_works":["https://openalex.org/W4388343518","https://openalex.org/W3148970067","https://openalex.org/W137099297","https://openalex.org/W2047126621","https://openalex.org/W2357010517","https://openalex.org/W1995115082","https://openalex.org/W2973854518","https://openalex.org/W2392630999","https://openalex.org/W1988296917","https://openalex.org/W3040978121"],"abstract_inverted_index":{"Compliant":[0],"mechanisms":[1],"are":[2],"widely":[3],"used":[4],"for":[5,10,61,102],"instrumentation":[6],"and":[7,13,33,43,49,68,106,122],"measuring":[8],"devices":[9],"their":[11],"precision":[12],"high":[14],"bandwidth.":[15],"In":[16],"this":[17],"paper,":[18],"the":[19,31,36,41,44,47,50,62,65,78,87,90,93,97,112,115,128,131],"mechatronic":[20,84],"model":[21,60,85],"of":[22,40,46,80,89,92,100,108,114],"a":[23,58,103],"compliant":[24,66],"3PRS":[25],"parallel":[26],"manipulator":[27,42,94],"is":[28,55,75,120],"developed,":[29],"integrating":[30],"inverse":[32,37,72],"direct":[34],"kinematics,":[35],"dynamic":[38,73],"problem":[39,54,74],"dynamics":[45],"actuators":[48],"control.":[51],"The":[52,71,83],"kinematic":[53],"solved,":[56,76],"assuming":[57],"pseudo-rigid":[59],"deflection":[63],"in":[64,96,111],"revolute":[67],"spherical":[69],"joints.":[70],"using":[77],"Principle":[79],"Energy":[81],"Equivalence.":[82],"allows":[86],"prediction":[88],"bandwidth":[91],"motion":[95],"3":[98],"degrees":[99],"freedom":[101],"given":[104],"control":[105],"set":[107],"actuators,":[109],"helping":[110],"design":[113],"optimum":[116],"solution.":[117],"A":[118],"prototype":[119],"built":[121],"validated,":[123],"comparing":[124],"experimental":[125],"signals":[126],"with":[127],"ones":[129],"from":[130],"model.":[132]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2021-12-31T00:00:00"}