{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,6,19]],"date-time":"2025-06-19T05:27:39Z","timestamp":1750310859461,"version":"3.33.0"},"reference-count":19,"publisher":"Wiley","issue":"2","license":[{"start":{"date-parts":[[2007,3,13]],"date-time":"2007-03-13T00:00:00Z","timestamp":1173744000000},"content-version":"vor","delay-in-days":4819,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["J. Robotic Syst."],"published-print":{"date-parts":[[1994,1]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>The mechanics, design, and control of a 3\u2013degrees\u2010of\u2010freedom, in\u2010parallel, pneumatically actuated manipulator are presented. The manipulator consists of two platforms connected by three serial chains. The kinematic design is such that the three relative degrees of freedom between the two plates allow the manipulator to accomodate uncertainties and sustain impacts while contacting and interacting with unknown environments. In particular, the manipulator is naturally compliant in translation along the approach direction as well as in rotations about axes perpendicular to the approach direction, while it is stiff in other directions. In this article, an overview of the manipulator kinematics, a description of the manipulator system and the associated hardware, and experimental results on the dynamic behavior of a prototype are presented. \u00a9 1994 John Wiley &amp; Sons, Inc.<\/jats:p>","DOI":"10.1002\/rob.4620110204","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T14:23:06Z","timestamp":1183731786000},"page":"103-115","source":"Crossref","is-referenced-by-count":21,"title":["Design and control of a three\u2010degrees\u2010of\u2010freedom, in\u2010parallel, actuated manipulator"],"prefix":"10.1002","volume":"11","author":[{"given":"George H.","family":"Pfreundschuh","sequence":"first","affiliation":[]},{"given":"Thomas G.","family":"Sugar","sequence":"additional","affiliation":[]},{"given":"Vijay","family":"Kumar","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2007,3,13]]},"reference":[{"key":"e_1_2_1_2_2","doi-asserted-by":"crossref","unstructured":"J. K.Salisbury \u201cActive stiffness control of a manipulator in Cartesian coordinates \u201d Proceedings of the 19th IEEE Conference on Decision and Control 1980.","DOI":"10.1109\/CDC.1980.272026"},{"key":"e_1_2_1_3_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.3153070"},{"key":"e_1_2_1_4_2","unstructured":"Y.XuandR. P.Paul \u201cOn position compensation and force control stability of a robot with a compliant wrist \u201d IEEE International Conference on Robotics and Automation Philadelphia PA 1988."},{"key":"e_1_2_1_5_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.3152676"},{"key":"e_1_2_1_6_2","unstructured":"S. C.Jacobsenet al. \u201cDesign of the utah\/mit dexterous hand \u201d Proceedings of the IEEE International Conference on Robotics and Automation San Fransisco April1986."},{"key":"e_1_2_1_7_2","unstructured":"A.Sharon N.Hogan andD. E.Hardt \u201cController design in the physical domain: Application to robot impedance control \u201d Proceedings of the IEEE International Conference on Robotics and Automation Scottsdale AZ 1989."},{"key":"e_1_2_1_8_2","doi-asserted-by":"crossref","unstructured":"E.ColgateandN.Hogan \u201cThe interaction of robots with passive environments: Applications to force feedback control \u201d Advanced Robotics 1989 Proceedings of the Fourth International Conference on International Robotics Columbus OH 1989 pp.465\u2013474.","DOI":"10.1007\/978-3-642-83957-3_33"},{"volume-title":"Robotics Research\u20141989","year":"1989","author":"Chen W.","key":"e_1_2_1_9_2"},{"key":"e_1_2_1_10_2","doi-asserted-by":"crossref","unstructured":"A.GoswamiandM.Peshkin \u201cExploring with passive compliance \u201d Proceedings of the IEEE International Conference on Robotics and Automation 1990 pp.279\u2013282.","DOI":"10.1109\/ROBOT.1990.125987"},{"key":"e_1_2_1_11_2","doi-asserted-by":"crossref","unstructured":"M. M.Durum \u201cKinematic properties of tripode (tripot) joints \u201d ASME Journal of Engineering for Industry 708\u2013713 1975.","DOI":"10.1115\/1.3438636"},{"issue":"3","key":"e_1_2_1_12_2","first-page":"345","article-title":"Kinematic analysis of a three\u2010degrees\u2010of\u2010freedom in\u2010parallel actuated manipulator,","volume":"4","author":"Lee K.\u2010M.","year":"1988","journal-title":"IEEE Journal of Robotics and Automation"},{"key":"e_1_2_1_13_2","unstructured":"K. J.Waldron M.Raghavan andB.Roth \u201cKinematics of a hybrid series\u2010parallel manipulator system part I: Position kinematics \u201d Proceedings from Winter Annual Meeting American Society of Mechanical Engineers 1987 pp.127\u2013136."},{"key":"e_1_2_1_14_2","unstructured":"K. J.Waldron M.Raghavan andB.Roth \u201cKinematics of a hybrid series\u2010parallel manipulator system part II: Rate and force decomposition \u201d Proceedings from Winter Annual Meeting American Society of Mechanical Engineers 1987 pp.137\u2013147."},{"key":"e_1_2_1_15_2","unstructured":"G.Pfreundschuh V.Kumar andT. G.Sugar \u201cDesign and control of a three degree of freedom in\u2010parallel actuated manipulator \u201d Proceedings of the 1991 IEEE International Conference on Robotics and Automation Sacramento CA 1991."},{"key":"e_1_2_1_16_2","unstructured":"G. H.Pfreundschuh The Kinematics Design and Control of a Paralle Actuated Manipulator Master's thesis University of Pennsylvania 1990."},{"volume-title":"Kinematic Geometry of Mechanisms","year":"1978","author":"Hunt K. H.","key":"e_1_2_1_17_2"},{"volume-title":"Measurement Systems","year":"1983","author":"Doebelin E. O.","key":"e_1_2_1_18_2"},{"volume-title":"Fluid Transmission Line Dynamics\u20141983","year":"1983","author":"Watton J.","key":"e_1_2_1_19_2"},{"key":"e_1_2_1_20_2","unstructured":"T. G.Sugar Design and Control of an In\u2010Parallel Pneumatically\u2010Actuated Manipulator Master's thesis University of Pennsylvania 1992."}],"container-title":["Journal of Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/api.wiley.com\/onlinelibrary\/tdm\/v1\/articles\/10.1002%2Frob.4620110204","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/rob.4620110204","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,1,18]],"date-time":"2025-01-18T07:45:37Z","timestamp":1737186337000},"score":1,"resource":{"primary":{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/10.1002\/rob.4620110204"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1994,1]]},"references-count":19,"journal-issue":{"issue":"2","published-print":{"date-parts":[[1994,1]]}},"alternative-id":["10.1002\/rob.4620110204"],"URL":"https:\/\/doi.org\/10.1002\/rob.4620110204","archive":["Portico"],"relation":{},"ISSN":["0741-2223","1097-4563"],"issn-type":[{"type":"print","value":"0741-2223"},{"type":"electronic","value":"1097-4563"}],"subject":[],"published":{"date-parts":[[1994,1]]}}}