{"id":"https://openalex.org/W4405849825","doi":"https://doi.org/10.3390/robotics14010001","title":"Inverse and Forward Kinematics and CAD-Based Simulation of a 5-DOF Delta-Type Parallel Robot with Actuation Redundancy","display_name":"Inverse and Forward Kinematics and CAD-Based Simulation of a 5-DOF Delta-Type Parallel Robot with Actuation Redundancy","publication_year":2024,"publication_date":"2024-12-27","ids":{"openalex":"https://openalex.org/W4405849825","doi":"https://doi.org/10.3390/robotics14010001"},"language":"en","primary_location":{"id":"doi:10.3390/robotics14010001","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics14010001","pdf_url":"https://www.mdpi.com/2218-6581/14/1/1/pdf?version=1735290019","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/2218-6581/14/1/1/pdf?version=1735290019","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5082303369","display_name":"P. A. Laryushkin","orcid":"https://orcid.org/0000-0002-9992-1808"},"institutions":[{"id":"https://openalex.org/I177537411","display_name":"Bauman Moscow State Technical University","ror":"https://ror.org/00pb8h375","country_code":"RU","type":"education","lineage":["https://openalex.org/I177537411"]}],"countries":["RU"],"is_corresponding":true,"raw_author_name":"Pavel Laryushkin","raw_affiliation_strings":["Department of Fundamentals of Machine Design, Bauman Moscow State Technical University (BMSTU), 105005 Moscow, Russia"],"raw_orcid":"https://orcid.org/0000-0002-9992-1808","affiliations":[{"raw_affiliation_string":"Department of Fundamentals of Machine Design, Bauman Moscow State Technical University (BMSTU), 105005 Moscow, Russia","institution_ids":["https://openalex.org/I177537411"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068893893","display_name":"A. V. Antonov","orcid":"https://orcid.org/0000-0002-3928-5440"},"institutions":[{"id":"https://openalex.org/I4210144066","display_name":"Institute of Machines Science","ror":"https://ror.org/03k42gv86","country_code":"RU","type":"facility","lineage":["https://openalex.org/I1313323035","https://openalex.org/I4210144066","https://openalex.org/I4210164537"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Anton Antonov","raw_affiliation_strings":["Mechanisms Theory and Machines Structure Laboratory, Mechanical Engineering Research Institute of the Russian Academy of Sciences (IMASH RAN), 101000 Moscow, Russia"],"raw_orcid":"https://orcid.org/0000-0002-3928-5440","affiliations":[{"raw_affiliation_string":"Mechanisms Theory and Machines Structure Laboratory, Mechanical Engineering Research Institute of the Russian Academy of Sciences (IMASH RAN), 101000 Moscow, Russia","institution_ids":["https://openalex.org/I4210144066"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053655787","display_name":"Alexey Fomin","orcid":"https://orcid.org/0000-0003-4071-8407"},"institutions":[{"id":"https://openalex.org/I4210144066","display_name":"Institute of Machines Science","ror":"https://ror.org/03k42gv86","country_code":"RU","type":"facility","lineage":["https://openalex.org/I1313323035","https://openalex.org/I4210144066","https://openalex.org/I4210164537"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Alexey Fomin","raw_affiliation_strings":["Mechanisms Theory and Machines Structure Laboratory, Mechanical Engineering Research Institute of the Russian Academy of Sciences (IMASH RAN), 101000 Moscow, Russia"],"raw_orcid":"https://orcid.org/0000-0003-4071-8407","affiliations":[{"raw_affiliation_string":"Mechanisms Theory and Machines Structure Laboratory, Mechanical Engineering Research Institute of the Russian Academy of Sciences (IMASH RAN), 101000 Moscow, Russia","institution_ids":["https://openalex.org/I4210144066"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5011821470","display_name":"O. Fomina","orcid":"https://orcid.org/0000-0003-0219-3857"},"institutions":[{"id":"https://openalex.org/I4210144066","display_name":"Institute of Machines Science","ror":"https://ror.org/03k42gv86","country_code":"RU","type":"facility","lineage":["https://openalex.org/I1313323035","https://openalex.org/I4210144066","https://openalex.org/I4210164537"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Oxana Fomina","raw_affiliation_strings":["Mechanisms Theory and Machines Structure Laboratory, Mechanical Engineering Research Institute of the Russian Academy of Sciences (IMASH RAN), 101000 Moscow, Russia"],"raw_orcid":"https://orcid.org/0000-0003-0219-3857","affiliations":[{"raw_affiliation_string":"Mechanisms Theory and Machines Structure Laboratory, Mechanical Engineering Research Institute of the Russian Academy of Sciences (IMASH RAN), 101000 Moscow, Russia","institution_ids":["https://openalex.org/I4210144066"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5082303369"],"corresponding_institution_ids":["https://openalex.org/I177537411"],"apc_list":{"value":1600,"currency":"CHF","value_usd":1782},"apc_paid":{"value":1600,"currency":"CHF","value_usd":1782},"fwci":1.3224,"has_fulltext":true,"cited_by_count":7,"citation_normalized_percentile":{"value":0.79497847,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"14","issue":"1","first_page":"1","last_page":"1"},"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/T11159","display_name":"Manufacturing Process and Optimization","score":0.9955999851226807,"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"}},{"id":"https://openalex.org/T11749","display_name":"Iterative Learning Control Systems","score":0.9908999800682068,"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/inverse-kinematics","display_name":"Inverse kinematics","score":0.8200850486755371},{"id":"https://openalex.org/keywords/redundancy","display_name":"Redundancy (engineering)","score":0.6638004779815674},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.6518073081970215},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.641061007976532},{"id":"https://openalex.org/keywords/cad","display_name":"CAD","score":0.629029393196106},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.529380738735199},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5040423274040222},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.43927961587905884},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4005783200263977},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.36413389444351196},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.34826040267944336},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.29303133487701416},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2655107378959656},{"id":"https://openalex.org/keywords/engineering-drawing","display_name":"Engineering drawing","score":0.17459726333618164},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1711212396621704},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.16655001044273376},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.08185341954231262},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.07175388932228088}],"concepts":[{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.8200850486755371},{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.6638004779815674},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.6518073081970215},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.641061007976532},{"id":"https://openalex.org/C194789388","wikidata":"https://www.wikidata.org/wiki/Q17855283","display_name":"CAD","level":2,"score":0.629029393196106},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.529380738735199},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5040423274040222},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.43927961587905884},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4005783200263977},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.36413389444351196},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.34826040267944336},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.29303133487701416},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2655107378959656},{"id":"https://openalex.org/C199639397","wikidata":"https://www.wikidata.org/wiki/Q1788588","display_name":"Engineering drawing","level":1,"score":0.17459726333618164},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1711212396621704},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.16655001044273376},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.08185341954231262},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.07175388932228088},{"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.3390/robotics14010001","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics14010001","pdf_url":"https://www.mdpi.com/2218-6581/14/1/1/pdf?version=1735290019","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:403ba84623f547debd4a8f91a1b6899d","is_oa":true,"landing_page_url":"https://doaj.org/article/403ba84623f547debd4a8f91a1b6899d","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 14, Iss 1, p 1 (2024)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/robotics14010001","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics14010001","pdf_url":"https://www.mdpi.com/2218-6581/14/1/1/pdf?version=1735290019","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","score":0.7799999713897705,"id":"https://metadata.un.org/sdg/16"}],"awards":[{"id":"https://openalex.org/G2798420678","display_name":null,"funder_award_id":"23-29-00789","funder_id":"https://openalex.org/F4320324099","funder_display_name":"Russian Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320324099","display_name":"Russian Science Foundation","ror":"https://ror.org/03y2gwe85"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4405849825.pdf","grobid_xml":"https://content.openalex.org/works/W4405849825.grobid-xml"},"referenced_works_count":29,"referenced_works":["https://openalex.org/W418261815","https://openalex.org/W1546490799","https://openalex.org/W1886758210","https://openalex.org/W1999496588","https://openalex.org/W2027525205","https://openalex.org/W2033222022","https://openalex.org/W2053664015","https://openalex.org/W2076406561","https://openalex.org/W2079704631","https://openalex.org/W2093591029","https://openalex.org/W2117986791","https://openalex.org/W2139423365","https://openalex.org/W2144890264","https://openalex.org/W2149621615","https://openalex.org/W2501079530","https://openalex.org/W2761613270","https://openalex.org/W2783668963","https://openalex.org/W2783926874","https://openalex.org/W2810405741","https://openalex.org/W2836867330","https://openalex.org/W2972786598","https://openalex.org/W2991850262","https://openalex.org/W3013133756","https://openalex.org/W4236676391","https://openalex.org/W4360865259","https://openalex.org/W4388308722","https://openalex.org/W6605486711","https://openalex.org/W6633280663","https://openalex.org/W6744464932"],"related_works":["https://openalex.org/W2334610590","https://openalex.org/W2320366403","https://openalex.org/W3204197061","https://openalex.org/W4251350712","https://openalex.org/W637098845","https://openalex.org/W2004793478","https://openalex.org/W2358666156","https://openalex.org/W2898458249","https://openalex.org/W2391892769","https://openalex.org/W2537091977"],"abstract_inverted_index":{"This":[0,174],"article":[1,151],"introduces":[2],"a":[3,7,23,61,83,88,153,164,187],"novel":[4],"modification":[5],"of":[6,16,33,38,76,87,136,144,158,186],"Delta-type":[8],"parallel":[9],"robot.":[10],"The":[11,35],"robot":[12,59,78,138,188],"has":[13,60],"five":[14],"degrees":[15,32],"freedom":[17,39],"and":[18,29,49,79,96,111,156,170,183],"provides":[19],"its":[20],"end-effector":[21,119],"with":[22],"3T2R":[24],"motion":[25],"pattern":[26],"(three":[27],"translational":[28],"two":[30,54],"rotational":[31],"freedom).":[34],"fifth":[36],"degree":[37],"(rotation)":[40],"is":[41,51,114],"kinematically":[42],"decoupled":[43],"from":[44],"the":[45,57,73,94,99,104,122,126,137,145,159,177,180],"other":[46],"four":[47,133,141],"motions,":[48],"it":[50,81],"controlled":[52],"by":[53],"drives.":[55],"Thus,":[56],"proposed":[58,160],"redundant":[62],"actuation.":[63],"In":[64],"this":[65,77,150],"article,":[66],"we":[67,162],"present":[68],"an":[69,112],"algorithm":[70,95],"to":[71,82,116,140],"solve":[72],"inverse":[74,168],"kinematics":[75,108,169],"apply":[80],"path":[84],"modeling":[85],"example":[86,131],"spiral-like":[89],"trajectory.":[90,106],"Numerical":[91],"simulations":[92],"illustrate":[93],"show":[97],"how":[98],"actuated":[100,127],"coordinates":[101],"change":[102],"along":[103],"considered":[105],"Forward":[107],"follows":[109],"next,":[110],"approach":[113],"introduced":[115],"determine":[117],"all":[118],"configurations":[120],"for":[121,166,179],"specified":[123],"displacements":[124],"in":[125],"joints.":[128],"A":[129],"numerical":[130],"presents":[132],"assembly":[134],"modes":[135],"corresponding":[139],"real":[142],"solutions":[143],"forward":[146],"kinematic":[147],"problem.":[148],"Finally,":[149],"demonstrates":[152],"computer-aided":[154],"design":[155],"analysis":[157,185],"robot:":[161],"describe":[163],"procedure":[165],"analyzing":[167],"calculating":[171],"actuation":[172],"torques.":[173],"study":[175],"forms":[176],"basis":[178],"future":[181],"manufacturing":[182],"experimental":[184],"prototype.":[189]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":6}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}
