{"id":"https://openalex.org/W4405080501","doi":"https://doi.org/10.3390/robotics13120173","title":"Optimal Synthesis of Five-Bar Linkage Based on Singularity-Free Workspaces with Predefined Shapes","display_name":"Optimal Synthesis of Five-Bar Linkage Based on Singularity-Free Workspaces with Predefined Shapes","publication_year":2024,"publication_date":"2024-12-05","ids":{"openalex":"https://openalex.org/W4405080501","doi":"https://doi.org/10.3390/robotics13120173"},"language":"en","primary_location":{"id":"doi:10.3390/robotics13120173","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics13120173","pdf_url":"https://www.mdpi.com/2218-6581/13/12/173/pdf?version=1733383855","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/2218-6581/13/12/173/pdf?version=1733383855","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5052277689","display_name":"Erwin-Christian Lovasz","orcid":"https://orcid.org/0000-0002-8661-1392"},"institutions":[{"id":"https://openalex.org/I3122695212","display_name":"Polytechnic University of Timi\u015foara","ror":"https://ror.org/02v91gy68","country_code":"RO","type":"education","lineage":["https://openalex.org/I3122695212"]}],"countries":["RO"],"is_corresponding":false,"raw_author_name":"Lovasz Erwin-Christian","raw_affiliation_strings":["Department of Mechatronics, University Politehnica Timi\u015foara, 300006 Timisoara, Romania"],"raw_orcid":"https://orcid.org/0000-0002-8661-1392","affiliations":[{"raw_affiliation_string":"Department of Mechatronics, University Politehnica Timi\u015foara, 300006 Timisoara, Romania","institution_ids":["https://openalex.org/I3122695212"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053844715","display_name":"Valentin Ciupe","orcid":"https://orcid.org/0000-0002-6533-279X"},"institutions":[{"id":"https://openalex.org/I3122695212","display_name":"Polytechnic University of Timi\u015foara","ror":"https://ror.org/02v91gy68","country_code":"RO","type":"education","lineage":["https://openalex.org/I3122695212"]}],"countries":["RO"],"is_corresponding":true,"raw_author_name":"Ciupe Valentin","raw_affiliation_strings":["Department of Mechatronics, University Politehnica Timi\u015foara, 300006 Timisoara, Romania"],"raw_orcid":"https://orcid.org/0000-0002-6533-279X","affiliations":[{"raw_affiliation_string":"Department of Mechatronics, University Politehnica Timi\u015foara, 300006 Timisoara, Romania","institution_ids":["https://openalex.org/I3122695212"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091977420","display_name":"Demjen Tivadar","orcid":null},"institutions":[{"id":"https://openalex.org/I3122695212","display_name":"Polytechnic University of Timi\u015foara","ror":"https://ror.org/02v91gy68","country_code":"RO","type":"education","lineage":["https://openalex.org/I3122695212"]}],"countries":["RO"],"is_corresponding":false,"raw_author_name":"Demjen Tivadar","raw_affiliation_strings":["Department of Mechatronics, University Politehnica Timi\u015foara, 300006 Timisoara, Romania"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechatronics, University Politehnica Timi\u015foara, 300006 Timisoara, Romania","institution_ids":["https://openalex.org/I3122695212"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087389454","display_name":"Alexandru Oarcea","orcid":"https://orcid.org/0000-0003-0563-4005"},"institutions":[{"id":"https://openalex.org/I3122695212","display_name":"Polytechnic University of Timi\u015foara","ror":"https://ror.org/02v91gy68","country_code":"RO","type":"education","lineage":["https://openalex.org/I3122695212"]}],"countries":["RO"],"is_corresponding":false,"raw_author_name":"Oarcea Alexandru","raw_affiliation_strings":["Department of Mechatronics, University Politehnica Timi\u015foara, 300006 Timisoara, Romania"],"raw_orcid":"https://orcid.org/0000-0003-0563-4005","affiliations":[{"raw_affiliation_string":"Department of Mechatronics, University Politehnica Timi\u015foara, 300006 Timisoara, Romania","institution_ids":["https://openalex.org/I3122695212"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006586541","display_name":"Elida-Gabriela Tulcan","orcid":"https://orcid.org/0000-0003-1842-7849"},"institutions":[{"id":"https://openalex.org/I3122695212","display_name":"Polytechnic University of Timi\u015foara","ror":"https://ror.org/02v91gy68","country_code":"RO","type":"education","lineage":["https://openalex.org/I3122695212"]}],"countries":["RO"],"is_corresponding":false,"raw_author_name":"Tulcan Elida-Gabriela","raw_affiliation_strings":["Department of Mechatronics, University Politehnica Timi\u015foara, 300006 Timisoara, Romania"],"raw_orcid":"https://orcid.org/0000-0003-1842-7849","affiliations":[{"raw_affiliation_string":"Department of Mechatronics, University Politehnica Timi\u015foara, 300006 Timisoara, Romania","institution_ids":["https://openalex.org/I3122695212"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5115018433","display_name":"Sandu Melania-Olivia","orcid":null},"institutions":[{"id":"https://openalex.org/I3122695212","display_name":"Polytechnic University of Timi\u015foara","ror":"https://ror.org/02v91gy68","country_code":"RO","type":"education","lineage":["https://openalex.org/I3122695212"]}],"countries":["RO"],"is_corresponding":false,"raw_author_name":"Sandu Melania-Olivia","raw_affiliation_strings":["Department of Mechatronics, University Politehnica Timi\u015foara, 300006 Timisoara, Romania"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechatronics, University Politehnica Timi\u015foara, 300006 Timisoara, Romania","institution_ids":["https://openalex.org/I3122695212"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5053844715"],"corresponding_institution_ids":["https://openalex.org/I3122695212"],"apc_list":{"value":1600,"currency":"CHF","value_usd":1732},"apc_paid":{"value":1600,"currency":"CHF","value_usd":1732},"fwci":1.2002,"has_fulltext":true,"cited_by_count":4,"citation_normalized_percentile":{"value":0.80224,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":"13","issue":"12","first_page":"173","last_page":"173"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","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/T10571","display_name":"Robotic Mechanisms and Dynamics","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/T10653","display_name":"Robot Manipulation and Learning","score":0.9969000220298767,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.9191094636917114},{"id":"https://openalex.org/keywords/linkage","display_name":"Linkage (software)","score":0.6141662001609802},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5677250623703003},{"id":"https://openalex.org/keywords/four-bar-linkage","display_name":"Four-bar linkage","score":0.5672346353530884},{"id":"https://openalex.org/keywords/singularity","display_name":"Singularity","score":0.5294598937034607},{"id":"https://openalex.org/keywords/ellipse","display_name":"Ellipse","score":0.5114835500717163},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.47911500930786133},{"id":"https://openalex.org/keywords/bar","display_name":"Bar (unit)","score":0.44241535663604736},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4207429885864258},{"id":"https://openalex.org/keywords/surface","display_name":"Surface (topology)","score":0.41080084443092346},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.384788453578949},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.36722373962402344},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.32339954376220703},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3154284358024597},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14882895350456238},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.11496010422706604},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09344872832298279},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.0911504328250885}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.9191094636917114},{"id":"https://openalex.org/C31266012","wikidata":"https://www.wikidata.org/wiki/Q6554340","display_name":"Linkage (software)","level":3,"score":0.6141662001609802},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5677250623703003},{"id":"https://openalex.org/C122920182","wikidata":"https://www.wikidata.org/wiki/Q2102938","display_name":"Four-bar linkage","level":3,"score":0.5672346353530884},{"id":"https://openalex.org/C16171025","wikidata":"https://www.wikidata.org/wiki/Q863349","display_name":"Singularity","level":2,"score":0.5294598937034607},{"id":"https://openalex.org/C74261601","wikidata":"https://www.wikidata.org/wiki/Q40112","display_name":"Ellipse","level":2,"score":0.5114835500717163},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.47911500930786133},{"id":"https://openalex.org/C188721877","wikidata":"https://www.wikidata.org/wiki/Q103510","display_name":"Bar (unit)","level":2,"score":0.44241535663604736},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4207429885864258},{"id":"https://openalex.org/C2776799497","wikidata":"https://www.wikidata.org/wiki/Q484298","display_name":"Surface (topology)","level":2,"score":0.41080084443092346},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.384788453578949},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.36722373962402344},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.32339954376220703},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3154284358024597},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14882895350456238},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.11496010422706604},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09344872832298279},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0911504328250885},{"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},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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/C153294291","wikidata":"https://www.wikidata.org/wiki/Q25261","display_name":"Meteorology","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.3390/robotics13120173","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics13120173","pdf_url":"https://www.mdpi.com/2218-6581/13/12/173/pdf?version=1733383855","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:187d1d0f96dc4f839085b3583383bf77","is_oa":true,"landing_page_url":"https://doaj.org/article/187d1d0f96dc4f839085b3583383bf77","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","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-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics, Vol 13, Iss 12, p 173 (2024)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/robotics13120173","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics13120173","pdf_url":"https://www.mdpi.com/2218-6581/13/12/173/pdf?version=1733383855","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":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4405080501.pdf","grobid_xml":"https://content.openalex.org/works/W4405080501.grobid-xml"},"referenced_works_count":38,"referenced_works":["https://openalex.org/W1554200069","https://openalex.org/W1583822431","https://openalex.org/W1974697119","https://openalex.org/W1979547086","https://openalex.org/W1993371511","https://openalex.org/W1993896896","https://openalex.org/W2003401806","https://openalex.org/W2014300445","https://openalex.org/W2028173473","https://openalex.org/W2049410986","https://openalex.org/W2058681867","https://openalex.org/W2067614974","https://openalex.org/W2070917084","https://openalex.org/W2092623956","https://openalex.org/W2106250937","https://openalex.org/W2122816609","https://openalex.org/W2237449772","https://openalex.org/W2332671364","https://openalex.org/W2397607314","https://openalex.org/W2510732200","https://openalex.org/W2587025185","https://openalex.org/W2623470906","https://openalex.org/W2766912819","https://openalex.org/W2991428381","https://openalex.org/W3134862386","https://openalex.org/W3156862228","https://openalex.org/W3164371905","https://openalex.org/W3212320875","https://openalex.org/W4200588293","https://openalex.org/W4232027606","https://openalex.org/W4289868009","https://openalex.org/W4307262677","https://openalex.org/W4383736020","https://openalex.org/W4385763470","https://openalex.org/W4388344602","https://openalex.org/W4393394389","https://openalex.org/W6689867760","https://openalex.org/W6862561927"],"related_works":["https://openalex.org/W2090392331","https://openalex.org/W3122438115","https://openalex.org/W2118485229","https://openalex.org/W2389535891","https://openalex.org/W2364268392","https://openalex.org/W2382663788","https://openalex.org/W2385205802","https://openalex.org/W2368594856","https://openalex.org/W2378646426","https://openalex.org/W2382050265"],"abstract_inverted_index":{"The":[0,70,96,116,211],"five-bar":[1,47,114,164],"linkage,":[2],"used":[3,26],"in":[4,27,30,127,177],"the":[5,92,100,106,109,113,120,124,135,145,151,158,172,180,186,193,196,206,232,241,253],"form":[6],"of":[7,49,88,99,103,108,112,123,161,169,179],"a":[8,45,53,86,131,141,162,224],"planar":[9],"manipulator,":[10],"benefits":[11],"from":[12],"easy":[13],"controllability":[14],"and":[15,33,68,140,175,199,209,231,237,245],"relatively":[16],"simple":[17],"kinematic":[18],"structures,":[19],"which":[20,80],"mean":[21,243],"that":[22,215,252,258],"it":[23],"can":[24,81],"be":[25,82],"several":[28],"applications":[29],"robotics,":[31],"rehabilitation,":[32],"haptic":[34],"devices,":[35],"etc.":[36],"This":[37],"paper":[38],"proposes":[39],"an":[40,154,216],"optimal":[41,121,159],"synthesis":[42,71,160,254],"method":[43,118,255],"for":[44,134,144,166],"symmetrical":[46,163],"linkage":[48,165],"type":[50],"5-RRRRR,":[51],"with":[52,60,85,171,265],"singularity-free":[54,262],"dexterous":[55,263],"workspace,":[56,170],"based":[57],"on":[58],"workspaces":[59,239],"predefined":[61],"shapes,":[62],"like":[63],"squares,":[64],"rectangles,":[65],"triangles,":[66],"circles,":[67],"ellipses.":[69],"conditions,":[72],"to":[73,129,157,192,261],"avoid":[74],"singularities,":[75],"are":[76,259],"given":[77],"as":[78,183,185,204],"inequations,":[79],"further":[83],"substituted":[84],"system":[87,102],"equations,":[89],"by":[90],"introducing":[91],"supraunitary":[93,125],"coefficient,":[94,126],"k.":[95],"analytical":[97,155],"solutions":[98],"resulting":[101,187],"equations":[104],"enable":[105],"computation":[107],"link":[110,188],"lengths":[111],"linkage.":[115],"optimization":[117],"provides":[119],"value":[122,133,143],"order":[128],"obtain":[130],"maximum":[132],"minimum":[136,142,233],"input":[137,234],"transmission":[138,235],"angle":[139],"manipulator":[146],"size.":[147,248],"In":[148,190],"this":[149],"paper,":[150],"authors":[152,197],"present":[153],"approach":[156],"different":[167],"shapes":[168],"same":[173],"surface":[174,247],"coordinates":[176],"terms":[178],"mass":[181],"center,":[182],"well":[184],"lengths.":[189],"regard":[191],"numerical":[194],"examples,":[195],"considered":[198,212],"compared":[200],"performance":[201],"indices,":[202],"such":[203],"manipulability,":[205,223],"condition":[207],"number,":[208],"stiffness.":[210],"examples":[213],"showed":[214],"equilateral":[217],"triangle-shaped":[218],"workspace":[219,226],"achieved":[220,227,240],"higher":[221,228],"global":[222,229],"square-shaped":[225],"dexterity":[230],"angle,":[236],"circular":[238],"highest":[242],"stiffness":[244,267],"total":[246],"It":[249],"was":[250],"observed":[251],"generates":[256],"structures":[257],"well-suited":[260],"workspaces,":[264],"nonzero":[266],"values.":[268]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}