{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,26]],"date-time":"2025-10-26T21:00:25Z","timestamp":1761512425314},"reference-count":17,"publisher":"Wiley","issue":"1","license":[{"start":{"date-parts":[[2007,3,13]],"date-time":"2007-03-13T00:00:00Z","timestamp":1173744000000},"content-version":"vor","delay-in-days":5519,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["J. Robotic Syst."],"published-print":{"date-parts":[[1992,2]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>Hybrid manipulators are parallel\u2010serial connection robots that give rise to a multitude of highly articulate robotic manipulators. These manipulators are modular and can be extended by additional modules over large distances. Every module has a hemispherical work space and collective modules give rise to highly dexterous symmetrical work space. In this article, some basic designs and kinematical structures of these robot manipulators are discussed, the associated direct and the inverse kinematics formulations are presented, and solutions to the inverse kinematic problem are obtained explicitly and elaborated upon. These robot manipulators are shown to have a strength\u2010to\u2010weight ratio many times larger than the value currently available with industrial or research manipulators. This is due to the fact that these hybrid manipulators are stress compensated and have an ultralight weight, yet are extremely stiff due to the fact that the force distribution in their structure is mostly axial. The means of actuation in these manipulators are entirely prismatic and can be provided by ball\u2010screws with antibacklash nuts or linear induction motors for maximum precision.<\/jats:p>","DOI":"10.1002\/rob.4620090103","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T12:52:18Z","timestamp":1183726338000},"page":"17-36","source":"Crossref","is-referenced-by-count":35,"title":["Kinematics of a parallel\u2010serial (Hybrid) manipulator"],"prefix":"10.1002","volume":"9","author":[{"given":"M.","family":"Shahinpoor","sequence":"first","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2007,3,13]]},"reference":[{"key":"e_1_2_1_2_2","volume-title":"A Robot Engineering Textbook","author":"Shahinpoor M.","year":"1987"},{"key":"e_1_2_1_3_2","unstructured":"E. 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P.Merlet \u201cContribution a la Formalisation de la Commanded par Retour d'Efforts. Application a la Commande de Robots Paralleles \u201d PhD thesis Paris VI University June1986."},{"key":"e_1_2_1_13_2","doi-asserted-by":"publisher","DOI":"10.1177\/027836498900800504"},{"key":"e_1_2_1_14_2","unstructured":"R. A.FreemanandD.Tesar \u201cDynamic modeling of serial and parallel mechanisms robotic systems part I\u2014methodology part II\u2014applications \u201d Trends and Development in Mechanisms Machines and Robotics\u20141988 ASME Proc. of 20th Biennial Mechanisms Conf. 1988."},{"key":"e_1_2_1_15_2","unstructured":"D. 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A.Freeman \u201cAn interactive software package for the dynamic modeling and simulation of parallel robotic systems including redundancy \u201d Proc. of 1990 ASME International Computers in Engineering Conference 1990 Vol. 1 pp.117\u2013123."}],"container-title":["Journal of Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/api.wiley.com\/onlinelibrary\/tdm\/v1\/articles\/10.1002%2Frob.4620090103","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/rob.4620090103","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,10,23]],"date-time":"2023-10-23T10:31:51Z","timestamp":1698057111000},"score":1,"resource":{"primary":{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/10.1002\/rob.4620090103"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1992,2]]},"references-count":17,"journal-issue":{"issue":"1","published-print":{"date-parts":[[1992,2]]}},"alternative-id":["10.1002\/rob.4620090103"],"URL":"https:\/\/doi.org\/10.1002\/rob.4620090103","archive":["Portico"],"relation":{},"ISSN":["0741-2223","1097-4563"],"issn-type":[{"value":"0741-2223","type":"print"},{"value":"1097-4563","type":"electronic"}],"subject":[],"published":{"date-parts":[[1992,2]]}}}