{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,26]],"date-time":"2025-10-26T14:11:22Z","timestamp":1761487882690},"reference-count":14,"publisher":"Wiley","issue":"4","license":[{"start":{"date-parts":[[2007,3,22]],"date-time":"2007-03-22T00:00:00Z","timestamp":1174521600000},"content-version":"vor","delay-in-days":6077,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["J. Robotic Syst."],"published-print":{"date-parts":[[1990,8]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>The dynamics of closed\u2010chain manipulators was not studied as extensively as that of open\u2010chain manipulators. In this article, the inverse dynamics of two types of closedchain manipulators, namely, a pantograph manipulator and a five\u2010bar manipulator, are studied. The recently developed computationally efficient method<jats:sup>1<\/jats:sup> is applied to both manipulators. The computational efficiency of inverse dynamics is evaluated in terms of both formulating methods (the method in reference 1 vs. the Lagrange method), and geometric structures (the pantograph vs. the five\u2010bar). The inverse kinematics computation of pantogaph manipulators is expected to be simpler than that of five\u2010bar manipulators simply because of the decoupling nature of the pantogaph mechanisms. On the contrary, the inverse kinetics of the pantograph is less efficient than the five\u2010bar because more links are involved during motion. It is also found that the overall inverse dynamics which includes both the inverse kinematics and kinetics of the pantograph manipulators, is more computationally efficient than that of the five\u2010bar, mainly due to the simple kinematics of the pantograph.<\/jats:p>","DOI":"10.1002\/rob.4620070402","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T10:24:25Z","timestamp":1183717465000},"page":"507-534","source":"Crossref","is-referenced-by-count":13,"title":["A comparative study of inverse dynamics of manipulators with closed\u2010chain geometry"],"prefix":"10.1002","volume":"7","author":[{"given":"Yueh\u2010Jaw","family":"Lin","sequence":"first","affiliation":[]},{"given":"Shin\u2010Min","family":"Song","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2007,3,22]]},"reference":[{"key":"e_1_2_1_2_2","doi-asserted-by":"publisher","DOI":"10.1002\/rob.4620060205"},{"key":"e_1_2_1_3_2","doi-asserted-by":"publisher","DOI":"10.1016\/0025-5564(76)90099-7"},{"key":"e_1_2_1_4_2","doi-asserted-by":"publisher","DOI":"10.1016\/0025-5564(79)90104-4"},{"key":"e_1_2_1_5_2","unstructured":"J. J.Uicker \u201cOn the Dynamic Analysis of Spatial Linkages Using 4 \u00d7 4 Matrices \u201d Ph.D. Dissertation Northwestern University Aug. 1965."},{"key":"e_1_2_1_6_2","volume-title":"The Near\u2010Minimum\u2010Time Control of Open\u2010Loop Articulated Kinematic Chains","author":"Kahn M. E.","year":"1969"},{"key":"e_1_2_1_7_2","doi-asserted-by":"publisher","DOI":"10.1177\/027836498300200301"},{"key":"e_1_2_1_8_2","doi-asserted-by":"crossref","unstructured":"C. S. G.Lee B. H.Lee andR.Nigam \u201cDevelopment of the generalized d'Alem\u2010bert equations of motion for mechanical manipulators \u201d in Proceedings of the IEEE 22nd Conference on Decision and Control 1983.","DOI":"10.1109\/CDC.1983.269715"},{"key":"e_1_2_1_9_2","doi-asserted-by":"publisher","DOI":"10.1177\/027836498200100204"},{"key":"e_1_2_1_10_2","first-page":"1343","article-title":"Recursive solution to the equations of motion of an n\u2010link manipulator,\u201d Proceedings of the 5th World Congress","volume":"2","author":"Armstrong W. M.","year":"1979","journal-title":"Theory of Machines, Mechanisms"},{"key":"e_1_2_1_11_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.3149599"},{"key":"e_1_2_1_12_2","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.1980.4308393"},{"key":"e_1_2_1_13_2","unstructured":"S. M.Song J. K.Lee andK. J.Waldron \u201cMotion study of two and three dimensional pantograph mechanisms \u201d inProcedings of the 9th Applied Mechanisms Conference Kansas MO. Oct. 1985."},{"key":"e_1_2_1_14_2","first-page":"69","article-title":"The mechanical efficiency and kinematics of pantograph\u2010type manipulator","volume":"2","author":"Song S. M.","year":"1988","journal-title":"J. of Korea Society of Mechanical Engineers"},{"key":"e_1_2_1_15_2","volume-title":"Proceedings of 4th Romancy Symposium","author":"Waldron K. J.","year":"1981"}],"container-title":["Journal of Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/api.wiley.com\/onlinelibrary\/tdm\/v1\/articles\/10.1002%2Frob.4620070402","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/rob.4620070402","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,10,22]],"date-time":"2023-10-22T19:41:28Z","timestamp":1698003688000},"score":1,"resource":{"primary":{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/10.1002\/rob.4620070402"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1990,8]]},"references-count":14,"journal-issue":{"issue":"4","published-print":{"date-parts":[[1990,8]]}},"alternative-id":["10.1002\/rob.4620070402"],"URL":"https:\/\/doi.org\/10.1002\/rob.4620070402","archive":["Portico"],"relation":{},"ISSN":["0741-2223","1097-4563"],"issn-type":[{"value":"0741-2223","type":"print"},{"value":"1097-4563","type":"electronic"}],"subject":[],"published":{"date-parts":[[1990,8]]}}}