{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,13]],"date-time":"2025-10-13T09:01:25Z","timestamp":1760346085901,"version":"3.37.0"},"reference-count":11,"publisher":"Cambridge University Press (CUP)","issue":"5","license":[{"start":{"date-parts":[[2009,3,9]],"date-time":"2009-03-09T00:00:00Z","timestamp":1236556800000},"content-version":"unspecified","delay-in-days":4938,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[1995,9]]},"abstract":"<jats:title>Summary<\/jats:title><jats:p>The kinematic structure of closed chain mechanisms is suitable for putting an excess number of inputs in addition to the required number to control their position and orientation. With the addition of these excess inputs, it is possible to generate and control the internal forces within the mechanisms by simultaneously activating joints whose action opposes each other. The internal forces balance inside the structure of mechanisms and do not create any resultant force. However, at the static or quasi-static cases they change the stiffness of the mechanisms. In dynamic cases, in addition to the change in stiffness, they may also generate a damping effect. As a result of these effects, the dynamic behavior of closed chain mechanisms changes. This study analyzes the dynamics of the closed chain mechanisms under the effect of internal forces through the simulation and experimental results using a planar closed chain mechanism.<\/jats:p>","DOI":"10.1017\/s0263574700018348","type":"journal-article","created":{"date-parts":[[2009,3,10]],"date-time":"2009-03-10T13:12:07Z","timestamp":1236690727000},"page":"507-514","source":"Crossref","is-referenced-by-count":7,"title":["Contribution of internal forces to the dynamics of closed chain mechanisms"],"prefix":"10.1017","volume":"13","author":[{"given":"Mehmet Arif","family":"Adli","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Hideo","family":"Hanafusa","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2009,3,9]]},"reference":[{"key":"S0263574700018348_ref004","doi-asserted-by":"crossref","unstructured":"4. Nguyen V. \u201cThe Synthesis of Stable Grasps in the Plane\u201d Proceedings of 1986 IEEE International Conference Robotics and Automation, San Francisco (1986) pp. 884\/889.","DOI":"10.1109\/ROBOT.1986.1087591"},{"key":"S0263574700018348_ref003","unstructured":"3. Baker B.S. , Fortune S. and Grosse E. \u201cStable Prehension with a Multifingered Hand\u201d Proceedings of 1985 IEEE International Conference on Robotics and Automation, Louis (1985) pp. 570\/575."},{"key":"S0263574700018348_ref002","unstructured":"2. 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Yi B.J. and Freeman R. \u201cSimultaneous Stiffness Generation and Load Distribution in Redundantly Actuated Mechanisms\u201d Proceedings of '91 ICAR, Fifth International Conference on Advanced Robotics, Pisa, Italy (June, 1991) pp. 802\u2013807.","DOI":"10.1109\/ICAR.1991.240576"},{"key":"S0263574700018348_ref001","doi-asserted-by":"crossref","unstructured":"1. Pittalkau M.E. \u201cAdaptive Load-Sharing Force Control For Two Arm Manipulators\u201d Proceedings of the 1987 IEEE International Conference on Robotics and Automation (1987) pp. 498\u2013503.","DOI":"10.1109\/ROBOT.1988.12101"},{"key":"S0263574700018348_ref007","unstructured":"7. Kaneko M. , Imamura N. , Yokoi K. , and Tanie K. , \u201c Realization of Stable Grasp Based on Virtual Stiffness Model by Robot Fingers\u201d Proceedings of 1990 IEEE International Workshop on Advanced Motion Control, Yokohama (1990) pp. 156\u2013163."},{"key":"S0263574700018348_ref011","doi-asserted-by":"publisher","DOI":"10.9746\/sicetr1965.29.253"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574700018348","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,2,8]],"date-time":"2025-02-08T04:54:14Z","timestamp":1738990454000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574700018348\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1995,9]]},"references-count":11,"journal-issue":{"issue":"5","published-print":{"date-parts":[[1995,9]]}},"alternative-id":["S0263574700018348"],"URL":"https:\/\/doi.org\/10.1017\/s0263574700018348","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"type":"print","value":"0263-5747"},{"type":"electronic","value":"1469-8668"}],"subject":[],"published":{"date-parts":[[1995,9]]}}}