{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,12,18]],"date-time":"2025-12-18T13:46:16Z","timestamp":1766065576075,"version":"3.41.0"},"reference-count":8,"publisher":"Cambridge University Press (CUP)","issue":"5","license":[{"start":{"date-parts":[[2021,3,2]],"date-time":"2021-03-02T00:00:00Z","timestamp":1614643200000},"content-version":"unspecified","delay-in-days":6362,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2003,10]]},"abstract":"<jats:title>Summary<\/jats:title>\n\t  <jats:p>A novel hyper-redundant manipulator named RT1 is presented in this paper. The key feature of RT1 is that all degrees of freedom (DOF) are actuated with only one motor, via specially designed hinge bar universal joints. The mechanism of RT1 which includes a special hinge bar universal joint, bend structure and motion diversion structure is described. RT1 is a discrete manipulator; the discrete working space is described, and the parameter optimization for kinematical redundancy resolution is also studied. In selecting the unit increment of joints angles as an optimizing parameter, the criterion used is to alter the design parameter as little as possible during the manipulator\u2019s motion from the initial to the expected position.<\/jats:p>","DOI":"10.1017\/s0263574703005125","type":"journal-article","created":{"date-parts":[[2003,10,9]],"date-time":"2003-10-09T11:32:00Z","timestamp":1065699120000},"page":"505-509","source":"Crossref","is-referenced-by-count":9,"title":["Design and study of a novel hyper-redundant manipulator"],"prefix":"10.1017","volume":"21","author":[{"given":"Yanming","family":"Li","sequence":"first","affiliation":[]},{"given":"Peisun","family":"Ma","sequence":"additional","affiliation":[]},{"given":"Changjun","family":"Qin","sequence":"additional","affiliation":[]},{"given":"Xueguan","family":"Gao","sequence":"additional","affiliation":[]},{"given":"Jianbin","family":"Wang","sequence":"additional","affiliation":[]},{"given":"Haihong","family":"Zhu","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2021,3,2]]},"reference":[{"key":"S0263574703005125_bib7","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1996.506841"},{"key":"S0263574703005125_bib2","first-page":"2467","article-title":"Hyper redundant modular manipulator arm,","volume":"4","author":"Kimura","year":"2000","journal-title":"26th Annual Conference of the IEEE"},{"key":"S0263574703005125_bib4","first-page":"3143","article-title":"The JPL Serpentine Robot: A 12-DOF system for inspection,","volume":"3","author":"Paljug","year":"1995","journal-title":"IEEE International Conference on Robotics and Automation"},{"key":"S0263574703005125_bib6","first-page":"8","article-title":"Hyper redundant manipulator using compound three-bar linkages,","volume":"1","author":"Koganezawa","year":"2001","journal-title":"IEEE\/ASME International Conference on Advanced Intelligent Mechantronics"},{"key":"S0263574703005125_bib1","first-page":"1268","article-title":"Coupled tendon-driven multijoint manipulator,","volume":"2","author":"Hirose","year":"1993","journal-title":"IEEE International Conference on Robotics and Automation"},{"key":"S0263574703005125_bib5","first-page":"1310","article-title":"R7: a snake-like robot for 3-d visual inspection,","volume":"2","author":"Lewis","year":"1994","journal-title":"Proceedings of the IEEE\/RSJ\/GI International Conference on Intelligent Robots and Systems"},{"key":"S0263574703005125_bib3","first-page":"113","article-title":"Design and experiments with a 30 DOF robot,","volume":"3","author":"Chirikjian","year":"1993","journal-title":"IEEE International Conference on Robotics and Automation"},{"key":"S0263574703005125_bib8","first-page":"3063","article-title":"A binary paradigm for robotic manipulators,","volume":"4","author":"Chirikjian","year":"1994","journal-title":"IEEE International Conference on Robotics and Automation"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574703005125","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,6,20]],"date-time":"2025-06-20T21:53:36Z","timestamp":1750456416000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574703005125\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2003,10]]},"references-count":8,"journal-issue":{"issue":"5","published-print":{"date-parts":[[2003,6]]}},"alternative-id":["S0263574703005125"],"URL":"https:\/\/doi.org\/10.1017\/s0263574703005125","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"type":"print","value":"0263-5747"},{"type":"electronic","value":"1469-8668"}],"subject":[],"published":{"date-parts":[[2003,10]]}}}