{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2023,10,24]],"date-time":"2023-10-24T05:19:27Z","timestamp":1698124767319},"reference-count":15,"publisher":"Wiley","issue":"8","license":[{"start":{"date-parts":[[2007,3,13]],"date-time":"2007-03-13T00:00:00Z","timestamp":1173744000000},"content-version":"vor","delay-in-days":5215,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["J. Robotic Syst."],"published-print":{"date-parts":[[1992,12]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>The objective of this article is to highlight the reachability and dexterity of dual\u2010elbow manipulators and provide a comparative evaluation of their capabilities. By necessity, dual\u2010elbow robots are compared to elbow manipulators, the <jats:italic>de facto<\/jats:italic> standard of industrial applications. Although it is well established that the ideal elbow and dual elbow geometries are comparable in terms of workspace optimization, it is shown that the corresponding realistic geometries exhibit distinct properties. Realistic dual\u2010elbow and elbow manipulators are investigated and the effects of manufacturing distortions on the flexibility and workspace utilization of the two geometries are quantified and contrasted. Realistic dual\u2010elbow geometries are shown to provide, in general, better reachability and dexterity, especially for manipulators with a large structural frame, and to be less sensitive to parallelism errors. \u00a9 1992 John Wiley &amp; Sons, Inc.<\/jats:p>","DOI":"10.1002\/rob.4620090803","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T13:05:33Z","timestamp":1183727133000},"page":"1021-1041","source":"Crossref","is-referenced-by-count":1,"title":["The reachability and dexterity of elbow and dual\u2010elbow robot manipulators"],"prefix":"10.1002","volume":"9","author":[{"given":"Dimitrios M.","family":"Emiris","sequence":"first","affiliation":[]},{"given":"Vassilios D.","family":"Tourassis","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2007,3,13]]},"reference":[{"key":"e_1_2_1_2_2","first-page":"549","volume-title":"Handbook of Industrial Robotics","author":"Nof S. Y.","year":"1985"},{"key":"e_1_2_1_3_2","doi-asserted-by":"publisher","DOI":"10.1177\/027836498800700204"},{"key":"e_1_2_1_4_2","doi-asserted-by":"publisher","DOI":"10.1109\/70.88042"},{"key":"e_1_2_1_5_2","volume-title":"Robot Design Handbook","author":"Andeen G. B.","year":"1988"},{"key":"e_1_2_1_6_2","unstructured":"B. E.Paden \u201cKinematics and Control of Robot Manipulators \u201d Ph.D. thesis University of California Berkeley CA 1985."},{"key":"e_1_2_1_7_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.3256412"},{"key":"e_1_2_1_8_2","doi-asserted-by":"publisher","DOI":"10.1177\/027836498600500212"},{"key":"e_1_2_1_9_2","doi-asserted-by":"publisher","DOI":"10.1177\/027836498300200103"},{"key":"e_1_2_1_10_2","doi-asserted-by":"publisher","DOI":"10.1109\/70.88076"},{"key":"e_1_2_1_11_2","doi-asserted-by":"publisher","DOI":"10.1177\/027836498600500210"},{"key":"e_1_2_1_12_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.3267350"},{"key":"e_1_2_1_13_2","first-page":"44","volume-title":"Handbook of Industrial Robotics","author":"Warnecke H. J.","year":"1985"},{"key":"e_1_2_1_14_2","unstructured":"D. M.Emiris \u201cKinematic Analysis Evaluation and Control of Dual\u2010Elbow Robotic Manipulators \u201d Ph.D. thesis University of Rochester Rochester NY 1991."},{"key":"e_1_2_1_15_2","doi-asserted-by":"crossref","unstructured":"B.PadenandS.Sastry \u201cElbow and elbow* manipulators are optimal \u201d Proc. of IEEE Conf. on Decision and Control Ft. Lauderdale FL 1985 pp.5\u201311.","DOI":"10.1109\/CDC.1985.268462"},{"key":"e_1_2_1_16_2","unstructured":"D. M.EmirisandV. D.Tourassis \u201cClosed\u2010form inverse kinematics solution for a dual\u2010elbow manipulator \u201d Proc. of Twelfth IASTED International Symp. on Robotics and Manufacturing Santa Barbara CA 1989 pp.70\u201374."}],"container-title":["Journal of Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/api.wiley.com\/onlinelibrary\/tdm\/v1\/articles\/10.1002%2Frob.4620090803","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/rob.4620090803","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,10,23]],"date-time":"2023-10-23T19:48:58Z","timestamp":1698090538000},"score":1,"resource":{"primary":{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/10.1002\/rob.4620090803"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1992,12]]},"references-count":15,"journal-issue":{"issue":"8","published-print":{"date-parts":[[1992,12]]}},"alternative-id":["10.1002\/rob.4620090803"],"URL":"https:\/\/doi.org\/10.1002\/rob.4620090803","archive":["Portico"],"relation":{},"ISSN":["0741-2223","1097-4563"],"issn-type":[{"value":"0741-2223","type":"print"},{"value":"1097-4563","type":"electronic"}],"subject":[],"published":{"date-parts":[[1992,12]]}}}