{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,12,31]],"date-time":"2025-12-31T14:53:39Z","timestamp":1767192819068},"reference-count":20,"publisher":"Wiley","issue":"5","license":[{"start":{"date-parts":[[2007,3,13]],"date-time":"2007-03-13T00:00:00Z","timestamp":1173744000000},"content-version":"vor","delay-in-days":5003,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["J. Robotic Syst."],"published-print":{"date-parts":[[1993,7]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>A new class of 6\u2010degree\u2010of\u2010freedom (dof) parallel minimanipulators is introduced. The minimanipulators are designed to provide high resolution and high stiffness for fine position and force control in a hybrid serial\u2010parallel manipulator system. Two\u2010dof planar linkages and inextensible limbs are used to improve positional resolution and stiffness of the minimanipulators. The 2\u2010dof linkages serve as drivers for the minimanipulators. The minimanipulators require only three inextensible limbs and, unlike most of the six\u2010limbed parallel manipulators, their direct kinematics can be reduced to solving a polynomial in a single variable. In addition, by using three limbs instead of six other benefits such as lower possibility of mechanical interference between limbs can be realized. All of the minimanipulator actuators are base\u2010mounted. As a result, higher payload capacity, smaller actuator sizes, and lower power dissipation can be obtained. In addition to the design discussion, kinematic analysis of the minimanipulators is also presented. \u00a9 1993 John Wiley &amp; Sons, Inc.<\/jats:p>","DOI":"10.1002\/rob.4620100503","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T13:28:36Z","timestamp":1183728516000},"page":"561-580","source":"Crossref","is-referenced-by-count":55,"title":["Synthesis and analysis of a new class of six\u2010degree\u2010of\u2010freedom parallel minimanipulators"],"prefix":"10.1002","volume":"10","author":[{"given":"Lung\u2010Wen","family":"Tsai","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Farhad","family":"Tahmasebi","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","published-online":{"date-parts":[[2007,3,13]]},"reference":[{"key":"e_1_2_1_2_2","doi-asserted-by":"crossref","unstructured":"D.Stewart \u201cA platform with six degrees of freedom.\u201d Proc. of the Institute of Mechanical Engineers London England 1965 Vol. 180 pp.371\u2013386.","DOI":"10.1243\/PIME_PROC_1965_180_029_02"},{"key":"e_1_2_1_3_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.3258540"},{"key":"e_1_2_1_4_2","unstructured":"E. F.FichterandE. D.MacDowell \u201cA novel design for a robot arm \u201d Proc. of the International Computer Technology Conference ASME New York 1980 pp.250\u2013256."},{"key":"e_1_2_1_5_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.3258578"},{"key":"e_1_2_1_6_2","unstructured":"T.Premarck F. M.Strempek L. A.Solis S. S.Brodd E. P.Cutler andL. P.Purves \u201cDesign and implementation of a compliant robot with force feedback and strategy planning software \u201d NASA Technical Memorandum 86111. NASA\/GSFC Greenbelt MD 1984."},{"key":"e_1_2_1_7_2","doi-asserted-by":"publisher","DOI":"10.1177\/027836498600500216"},{"key":"e_1_2_1_8_2","doi-asserted-by":"publisher","DOI":"10.1016\/0378-3804(89)90038-7"},{"key":"e_1_2_1_9_2","unstructured":"K. J.WaldronandK. 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