{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,16]],"date-time":"2026-04-16T16:59:01Z","timestamp":1776358741444,"version":"3.51.2"},"reference-count":34,"publisher":"Springer Science and Business Media LLC","issue":"2","license":[{"start":{"date-parts":[[2017,12,30]],"date-time":"2017-12-30T00:00:00Z","timestamp":1514592000000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["J Intell Robot Syst"],"published-print":{"date-parts":[[2018,10]]},"DOI":"10.1007\/s10846-017-0752-x","type":"journal-article","created":{"date-parts":[[2017,12,30]],"date-time":"2017-12-30T04:35:00Z","timestamp":1514608500000},"page":"309-321","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":23,"title":["Kinematics, Singularity Study and Optimization of an Innovative Spherical Parallel Manipulator with Large Workspace"],"prefix":"10.1007","volume":"92","author":[{"given":"Hasan","family":"Khoshnoodi","sequence":"first","affiliation":[]},{"given":"Ali","family":"Rahmani Hanzaki","sequence":"additional","affiliation":[]},{"given":"Heidar Ali","family":"Talebi","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2017,12,30]]},"reference":[{"issue":"4","key":"752_CR1","first-page":"041007 (7 pages","volume":"133","author":"A Hernandez","year":"2011","unstructured":"Altuzarra O., Pinto C., Sandru B., Hernandez, A.: Optimal dimensioning for parallel manipulators: workspace, dexterity and energy. J. Mech. Des. 133(4), 041007 (7 pages) (2011)","journal-title":"J. Mech. Des."},{"key":"752_CR2","doi-asserted-by":"crossref","first-page":"1497","DOI":"10.1016\/j.mechmachtheory.2008.12.001","volume":"44","author":"Y Lu","year":"2009","unstructured":"Lu, Y., Shi, Y., Huang, Z., Yu, J., Li, S., Tian, X.: Kinematics\/statics of a 4-DOF over-constrained parallel manipulator with 3 legs. Mech. Mach. Theory 44, 1497\u20131506 (2009)","journal-title":"Mech. Mach. Theory"},{"issue":"2","key":"752_CR3","doi-asserted-by":"crossref","first-page":"135","DOI":"10.1007\/s11465-016-0389-7","volume":"11","author":"F Xie","year":"2016","unstructured":"Xie, F., Liu, X.-J.: Analysis of the kinematic characteristics of a high-speed parallel robot with Sch\u00f6nflies motion: Mobility, kinematics, and singularity. Front. Mech. Eng. 11(2), 135\u2013143 (2016)","journal-title":"Front. Mech. Eng."},{"key":"752_CR4","volume-title":"Introduction to robotics","author":"JJ Craig","year":"2005","unstructured":"Craig, J.J.: Introduction to robotics. Addison-Wesky Publishing Co., New York (2005)"},{"key":"752_CR5","doi-asserted-by":"crossref","DOI":"10.1007\/978-1-4020-5710-6","volume-title":"Structural synthesis of parallel robots: part 1: methodology","author":"G Gogu","year":"2008","unstructured":"Gogu, G.: Structural synthesis of parallel robots: part 1: methodology. Springer, Berlin (2008)"},{"issue":"4","key":"752_CR6","doi-asserted-by":"crossref","first-page":"432","DOI":"10.1007\/s11633-017-1066-y","volume":"14","author":"M Mazare","year":"2017","unstructured":"Mazare, M., Taghizadeh, M., Rasool Najafi, M.: Kinematic analysis and design of a 3-DOF translational parallel robot. Int. J. Autom. Comput 14(4), 432\u2013441 (2017)","journal-title":"Int. J. Autom. Comput"},{"key":"752_CR7","doi-asserted-by":"crossref","first-page":"1377","DOI":"10.1016\/j.robot.2014.06.006","volume":"62","author":"G Wu","year":"2014","unstructured":"Wu, G., Caro, S., Bai, S., Kepler, J.: Dynamic modeling and design optimization of a 3-DOF spherical parallel manipulator. Robot. Auton. Syst. 62, 1377\u20131386 (2014)","journal-title":"Robot. Auton. Syst."},{"issue":"6","key":"752_CR8","doi-asserted-by":"crossref","first-page":"1176","DOI":"10.3901\/CJME.2016.0623.078","volume":"29","author":"L Zhang","year":"2016","unstructured":"Zhang, L., Guo, F., Li, Y., Lu, W.: Global dynamic modeling of electro-hydraulic 3-UPS\/S parallel stabilized platform by bond graph. Chin. J. Mech. Eng. 29(6), 1176\u20131185 (2016)","journal-title":"Chin. J. Mech. Eng."},{"issue":"2","key":"752_CR9","doi-asserted-by":"crossref","first-page":"150","DOI":"10.1007\/s11465-012-0325-4","volume":"7","author":"A Chaker","year":"2012","unstructured":"Chaker, A., Mlika, A., Laribi, M.A., Romdhane, L., Zeghloul, S.: Synthesis of spherical parallel manipulator for dexterous medical task. Front. Mech. Eng. 7(2), 150\u2013162 (2012)","journal-title":"Front. Mech. Eng."},{"issue":"2","key":"752_CR10","doi-asserted-by":"crossref","first-page":"133","DOI":"10.1017\/S0263574701003873","volume":"20","author":"T Li","year":"2002","unstructured":"Li, T., Payandeh, S.: Design of spherical parallel mechanisms for application to laparoscopic surgery. Robotica 20(2), 133\u2013138 (2002)","journal-title":"Robotica"},{"issue":"3","key":"752_CR11","doi-asserted-by":"crossref","first-page":"497","DOI":"10.1016\/S0094-114X(98)00019-6","volume":"34","author":"F Bulca","year":"1999","unstructured":"Bulca, F., Angeles, J., Zsombor-Murray, P.J.: On the workspace determination of spherical serial and platform mechanisms. Mech. Mach. Theory 34(3), 497\u2013512 (1999)","journal-title":"Mech. Mach. Theory"},{"issue":"2","key":"752_CR12","doi-asserted-by":"crossref","first-page":"200","DOI":"10.1016\/j.mechmachtheory.2009.06.007","volume":"45","author":"S Bai","year":"2010","unstructured":"Bai, S.: Optimum design of spherical parallel manipulators for a prescribed workspace. Mech. Mach. Theory 45(2), 200\u2013211 (2010)","journal-title":"Mech. Mach. Theory"},{"key":"752_CR13","doi-asserted-by":"crossref","unstructured":"Guo, J., Liu, Y., Shi, J., Cai, G.: Analysis on the processing dexterity of 3-UPS parallel robot. Proceedings of the IEEE, International Conference on Automation and Logistics, Qingdao, China, pp. 2476\u20132480 (2008)","DOI":"10.1109\/ICAL.2008.4636584"},{"key":"752_CR14","first-page":"20","volume-title":"On dexterity and dexterous manipulation. The 15th International Conference on Advanced Robotics","author":"RR Ma","year":"2011","unstructured":"Ma, R.R., Dollar, A.M.: On dexterity and dexterous manipulation. The 15th International Conference on Advanced Robotics, pp. 20\u201323. Tallinn University of Technology, Tallinn (2011)"},{"key":"752_CR15","doi-asserted-by":"crossref","first-page":"1505","DOI":"10.1016\/j.mechmachtheory.2006.01.003","volume":"41","author":"G Pond","year":"2006","unstructured":"Pond, G., Carretero, J.A.: Formulating Jacobian matrices for the dexterity analysis of parallel manipulators. Mech. Mach. Theory 41, 1505\u20131519 (2006)","journal-title":"Mech. Mach. Theory"},{"key":"752_CR16","doi-asserted-by":"crossref","unstructured":"Bonev, I.A., Gosselin, C.M.: Singularity loci of spherical parallel mechanisms. In: Proceedings of the 2005 IEEE International Conference on Robotics and Automation, pp. 2957\u20132962 (2005)","DOI":"10.1109\/ROBOT.2005.1570563"},{"issue":"2","key":"752_CR17","doi-asserted-by":"crossref","first-page":"409","DOI":"10.1016\/j.rcim.2008.02.001","volume":"25","author":"S Staicu","year":"2009","unstructured":"Staicu, S.: Recursive modelling in dynamics of Agile Wrist spherical parallel robot. Robot. Comput. Integr. Manuf. 25(2), 409\u2013416 (2009)","journal-title":"Robot. Comput. Integr. Manuf."},{"issue":"9","key":"752_CR18","doi-asserted-by":"crossref","first-page":"1257","DOI":"10.1016\/S0094-114X(99)00072-5","volume":"35","author":"X-J Liu","year":"2000","unstructured":"Liu, X.-J., Jin, Z.-L., Gao, F.: Optimum design of 3-DOF spherical parallel manipulators with respect to the conditioning and stiffness indices. Mech. Mach. Theory 35(9), 1257\u20131267 (2000)","journal-title":"Mech. Mach. Theory"},{"key":"752_CR19","doi-asserted-by":"crossref","unstructured":"Bidault, F., Teng, C.-P., Angeles, J.: Structural optimization of a spherical parallel manipulator using a two-level approach. In: Proceedings of DETC\u201901 ASME, Design Engineering Technical Conferences and Computers and Information in Engineering Conference, pp. 9\u201312, Pittsburgh (2001)","DOI":"10.1115\/DETC2001\/DAC-21030"},{"issue":"4","key":"752_CR20","doi-asserted-by":"crossref","first-page":"296","DOI":"10.1016\/j.robot.2007.09.005","volume":"56","author":"Y Lu","year":"2008","unstructured":"Lu, Y., Shi, Y., Hu, B.: Kinematic analysis of two novel 3UPU I and 3UPU II PKMs. Robot. Auton. Syst. 56(4), 296\u2013305 (2008)","journal-title":"Robot. Auton. Syst."},{"key":"752_CR21","doi-asserted-by":"crossref","first-page":"36","DOI":"10.1016\/j.mechmachtheory.2014.02.017","volume":"78","author":"Y Lu","year":"2014","unstructured":"Lu, Y., Wang, P., Hou, Z., Hu, B., Sui, C., Han, J.: Kinetostatic analysis of a novel 6-DoF 3UPS parallel manipulator with multi-fingers. Mech. Mach. Theory 78, 36\u201350 (2014)","journal-title":"Mech. Mach. Theory"},{"key":"752_CR22","doi-asserted-by":"crossref","first-page":"26","DOI":"10.1016\/j.mechmachtheory.2015.06.016","volume":"93","author":"MA Hosseini","year":"2015","unstructured":"Hosseini, M.A.: Kinematic synthesis of a novel rapid spherical CRS\/PU parallel manipulator. Mech. Mach. Theory 93, 26\u201338 (2015)","journal-title":"Mech. Mach. Theory"},{"issue":"3","key":"752_CR23","doi-asserted-by":"crossref","first-page":"1930","DOI":"10.1016\/j.ifacol.2015.06.369","volume":"48","author":"R Zeng","year":"2015","unstructured":"Zeng, R., Dai, S., Xie, W., Rama, B.: Constraint conditions determination for singularity-free workspace of central symmetric parallel robots. 15th IFAC Symposium on information control problems inmanufacturing. IFAC-PapersOnLine 48(3), 1930\u20131935 (2015)","journal-title":"IFAC-PapersOnLine"},{"key":"752_CR24","doi-asserted-by":"crossref","first-page":"302","DOI":"10.1016\/j.rcim.2015.03.009","volume":"37","author":"KA Arrouk","year":"2016","unstructured":"Arrouk, K.A., Bouzgarrou, B.C., Gogu, G.: CAD-based unified graphical methodology for solving the main problems related to geometric and kinematic analysis of planar parallel robotic manipulators. Robot. Comput.-Integr. Manuf. 37, 302\u2013321 (2016)","journal-title":"Robot. Comput.-Integr. Manuf."},{"issue":"5","key":"752_CR25","doi-asserted-by":"crossref","first-page":"995","DOI":"10.1109\/TRO.2009.2017132","volume":"25","author":"D Kanaan","year":"2009","unstructured":"Kanaan, D., Wenger, P., Caro, S., Chablat, D.: Singularity analysis of lower mobility parallel manipulators using grassmann-cayley algebra. IEEE Trans. Robot. 25(5), 995\u20131004 (2009)","journal-title":"IEEE Trans. Robot."},{"issue":"1","key":"752_CR26","doi-asserted-by":"crossref","first-page":"33","DOI":"10.1016\/j.mechmachtheory.2010.08.012","volume":"46","author":"H Pendar","year":"2011","unstructured":"Pendar, H., Mahnama, M., Zohoor, H.: Singularity analysis of parallel manipulators using constraint plane method. Mech. Mach. Theory 46(1), 33\u201343 (2011)","journal-title":"Mech. Mach. Theory"},{"issue":"3","key":"752_CR27","doi-asserted-by":"crossref","first-page":"031001","DOI":"10.1115\/1.4026031","volume":"136","author":"P Zhang","year":"2014","unstructured":"Zhang, P., Yao, Z., Du, Z.: Global performance index system for kinematic optimization of robotic mechanism. J. Mech. Des. 136(3), 031001\u2013031001 (2014)","journal-title":"J. Mech. Des."},{"issue":"1","key":"752_CR28","doi-asserted-by":"crossref","first-page":"4","DOI":"10.1177\/027836498200100102","volume":"1","author":"JK Salisbury","year":"1982","unstructured":"Salisbury, J.K., Craig, J.J.: Articulated hands: force control and kinematic issues. Int. J. Robot. Res. 1(1), 4\u201317 (1982)","journal-title":"Int. J. Robot. Res."},{"issue":"3","key":"752_CR29","doi-asserted-by":"crossref","first-page":"220","DOI":"10.1115\/1.2912772","volume":"113","author":"C Gosselin","year":"1991","unstructured":"Gosselin, C., Angeles, J.: A global performance index for the kinematic optimization of robotic manipulators. J. Mech. Des. 113(3), 220\u2013226 (1991)","journal-title":"J. Mech. Des."},{"key":"752_CR30","doi-asserted-by":"crossref","first-page":"24","DOI":"10.1016\/j.engappai.2017.09.014","volume":"67","author":"MH Sangdani","year":"2018","unstructured":"Sangdani, M.H., Tavakolpour-Saleh, A.R., Lotfavar, A.: Genetic algorithm-based optimal computed torque control of a vision-based tracker robot: Simulation and experiment. Eng. Appl. Artif. Intell. 67, 24\u201338 (2018)","journal-title":"Eng. Appl. Artif. Intell."},{"key":"752_CR31","doi-asserted-by":"crossref","first-page":"73","DOI":"10.1016\/j.mechmachtheory.2017.09.014","volume":"120","author":"T Suna","year":"2018","unstructured":"Suna, T., Lian, B.: Stiffness and mass optimization of parallel kinematic machine. Mech. Mach. Theory 120, 73\u201388 (2018)","journal-title":"Mech. Mach. Theory"},{"key":"752_CR32","doi-asserted-by":"crossref","first-page":"395","DOI":"10.1016\/j.cie.2017.06.009","volume":"110","author":"SD Dao","year":"2017","unstructured":"Dao, S.D., Abhary, K., Marian, R.: A bibliometric analysis of genetic algorithms throughout the history. Comput. Ind. Eng. 110, 395\u2013403 (2017)","journal-title":"Comput. Ind. Eng."},{"issue":"5","key":"752_CR33","first-page":"52","volume":"3","author":"B Fahimnia","year":"2008","unstructured":"Fahimnia, B., Luong, L., Marian, R.: Optimization\/simulation modeling of the integrated production-distribution plan: an innovative survey. WSEAS Trans. Bus Econ 3(5), 52\u201365 (2008)","journal-title":"WSEAS Trans. Bus Econ"},{"issue":"4","key":"752_CR34","doi-asserted-by":"crossref","first-page":"533","DOI":"10.1016\/0094-114X(94)00052-M","volume":"30","author":"J Sefrioui","year":"1995","unstructured":"Sefrioui, J., Gosselin, C.M.: On the quadratic nature of the singularity curves of planar three-degree-of-freedom parallel manipulators. Mech. Mach Theory 30(4), 533\u2013551 (1995)","journal-title":"Mech. Mach Theory"}],"container-title":["Journal of Intelligent & Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s10846-017-0752-x\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-017-0752-x.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-017-0752-x.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,6,29]],"date-time":"2025-06-29T09:25:52Z","timestamp":1751189152000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s10846-017-0752-x"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2017,12,30]]},"references-count":34,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2018,10]]}},"alternative-id":["752"],"URL":"https:\/\/doi.org\/10.1007\/s10846-017-0752-x","relation":{},"ISSN":["0921-0296","1573-0409"],"issn-type":[{"value":"0921-0296","type":"print"},{"value":"1573-0409","type":"electronic"}],"subject":[],"published":{"date-parts":[[2017,12,30]]}}}