{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,9,25]],"date-time":"2025-09-25T17:04:13Z","timestamp":1758819853874},"reference-count":15,"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>This article studies the geometrical condition for closed\u2010form solutions of forward kinematics of parallel platforms. It is shown that closed\u2010form solutions are available if 1 rotational degree of freedom (dof) of the moving platform is decoupled from the other 5 dof. Geometrically, this condition is satisfied when five end\u2010points at the moving platform (or at the base) are colinear. A general case that these five points do not coincide with each other is studied first and is shown to have 16 possible closed\u2010form solutions. The variations of parallel platforms that satisfy the above\u2010mentioned geometrical condition are then discussed. Some of them have the additional feature that the three rotational dof are fully decoupled from the 3 translational dof and their closed\u2010form solutions are further simplified. One particular case has extremely simple forward kinematics and could be used as an alternative to the Stewart platform.<\/jats:p>","DOI":"10.1002\/rob.4620090106","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T12:52:18Z","timestamp":1183726338000},"page":"93-112","source":"Crossref","is-referenced-by-count":47,"title":["Forward kinematics of a class of parallel (Stewart) platforms with closed\u2010form solutions"],"prefix":"10.1002","volume":"9","author":[{"given":"Chang\u2010De","family":"Zhang","sequence":"first","affiliation":[]},{"given":"Shin\u2010Min","family":"Song","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2007,3,13]]},"reference":[{"key":"e_1_2_1_2_2","unstructured":"D.Pieper The Kinematics of Manipulators under Computer Control Ph.D. thesis Stanford University Stanford CA 1968."},{"key":"e_1_2_1_3_2","doi-asserted-by":"publisher","DOI":"10.1243\/PIME_PROC_1965_180_029_02"},{"key":"e_1_2_1_4_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.3258540"},{"key":"e_1_2_1_5_2","volume-title":"Kinematic Geometry of Mechanisms","author":"Hunt K. 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