{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,13]],"date-time":"2026-05-13T12:38:26Z","timestamp":1778675906221,"version":"3.51.4"},"reference-count":12,"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":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>Presented is an analysis of the kinematics and the inverse dynamics of a proposed three degree of freedom (dof) parallel manipulator resembling the Stewart platform in a general form. In the kinematic analysis, the inverse kinematics, velocity, and acceleration analyses are performed, respectively, using vector analysis and general homogeneous transformations. An algorithm to solve the inverse dynamics of the proposed parallel manipulator is then presented using a Lagrangian technique. In this case, it is found that one should introduce and subsequently eliminate Lagrange multipliers to arrive at the governing equations. Numerical examples are finally carried out to examine the validity of the approach and the accuracy of the numerical technique employed. The trajectory of motion of the manipulator is also performed using a cubic spline. \u00a9 1994 John Wiley &amp; Sons, Inc.<\/jats:p>","DOI":"10.1002\/rob.4620110803","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T16:22:47Z","timestamp":1183738967000},"page":"693-702","source":"Crossref","is-referenced-by-count":69,"title":["Inverse dynamics of a parallel manipulator"],"prefix":"10.1002","volume":"11","author":[{"given":"Hyunsok","family":"Pang","sequence":"first","affiliation":[]},{"given":"Mohsen","family":"Shahinpoor","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2007,3,13]]},"reference":[{"key":"e_1_2_1_2_2","doi-asserted-by":"publisher","DOI":"10.1243\/PIME_PROC_1965_180_029_02"},{"key":"e_1_2_1_3_2","doi-asserted-by":"publisher","DOI":"10.1177\/027836498600500216"},{"key":"e_1_2_1_4_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.3258540"},{"key":"e_1_2_1_5_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.3258578"},{"key":"e_1_2_1_6_2","doi-asserted-by":"publisher","DOI":"10.1002\/rob.4620050304"},{"key":"e_1_2_1_7_2","doi-asserted-by":"publisher","DOI":"10.1109\/56.797"},{"key":"e_1_2_1_8_2","doi-asserted-by":"crossref","unstructured":"C.ZhangandS. M.Song \u201cForward kinematics of a class of parallel (Stewart) platforms with closed\u2010form solutions \u201d Proc. IEEE Int. Conf. Rob. Autom. 1991 pp.2676\u20132681.","DOI":"10.1109\/ROBOT.1991.132034"},{"key":"e_1_2_1_9_2","doi-asserted-by":"publisher","DOI":"10.1002\/rob.4620090103"},{"key":"e_1_2_1_10_2","first-page":"72","volume-title":"Methods of Analytical Dynamics","author":"Meirovitch L.","year":"1970"},{"key":"e_1_2_1_11_2","first-page":"338","volume-title":"Applied Linear Algebra","author":"Noble B.","year":"1988"},{"key":"e_1_2_1_12_2","doi-asserted-by":"crossref","unstructured":"B.Noble \u201cMethods for computing the Moore\u2010Penrose generalized inverse and related matters \u201d Proc. Adv. Sem. 1976 pp.245\u2013301.","DOI":"10.1016\/B978-0-12-514250-2.50011-1"},{"key":"e_1_2_1_13_2","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4757-5592-3"}],"container-title":["Journal of Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/api.wiley.com\/onlinelibrary\/tdm\/v1\/articles\/10.1002%2Frob.4620110803","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/rob.4620110803","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,1,18]],"date-time":"2025-01-18T07:48:30Z","timestamp":1737186510000},"score":1,"resource":{"primary":{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/10.1002\/rob.4620110803"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1994,1]]},"references-count":12,"journal-issue":{"issue":"8","published-print":{"date-parts":[[1994,1]]}},"alternative-id":["10.1002\/rob.4620110803"],"URL":"https:\/\/doi.org\/10.1002\/rob.4620110803","archive":["Portico"],"relation":{},"ISSN":["0741-2223","1097-4563"],"issn-type":[{"value":"0741-2223","type":"print"},{"value":"1097-4563","type":"electronic"}],"subject":[],"published":{"date-parts":[[1994,1]]}}}