{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,9]],"date-time":"2025-10-09T21:02:48Z","timestamp":1760043768989},"reference-count":37,"publisher":"Cambridge University Press (CUP)","issue":"2","license":[{"start":{"date-parts":[[2009,3,1]],"date-time":"2009-03-01T00:00:00Z","timestamp":1235865600000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2009,3]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>Recursive matrix relations in kinematics and dynamics of a Delta parallel robot having three revolute actuators are established in this paper. The prototype of the manipulator is a three degrees-of-freedom space mechanism, which consists of a system of parallel closed kinematical chains connecting to the moving platform. Knowing the translation motion of the platform, we develop first the inverse kinematics problem and determine the position, velocity and acceleration of each robot's element. Further, the inverse dynamic problem is solved using an approach based on the fundamental principle of virtual work. Finally, a comparative study on time-history evolution of the torques of the three actuators is analysed.<\/jats:p>","DOI":"10.1017\/s0263574708004451","type":"journal-article","created":{"date-parts":[[2008,4,11]],"date-time":"2008-04-11T13:10:48Z","timestamp":1207919448000},"page":"199-207","source":"Crossref","is-referenced-by-count":32,"title":["Recursive modelling in dynamics of Delta parallel robot"],"prefix":"10.1017","volume":"27","author":[{"given":"Stefan","family":"Staicu","sequence":"first","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2009,3,1]]},"reference":[{"key":"S0263574708004451_ref8","doi-asserted-by":"publisher","DOI":"10.1109\/70.833183"},{"key":"S0263574708004451_ref2","doi-asserted-by":"publisher","DOI":"10.1109\/TRA.2003.810242"},{"key":"S0263574708004451_ref28","first-page":"8","volume-title":"Conf\u00e9rence Internationale Francophone d'Automatique","author":"Guegan","year":"2002"},{"key":"S0263574708004451_ref37","first-page":"15","article-title":"Relations matricielles de r\u00e9currence en dynamique des m\u00e9canismes","volume":"50","author":"Staicu","year":"2005","journal-title":"Revue Roumaine des Sciences Techniques"},{"key":"S0263574708004451_ref36","doi-asserted-by":"publisher","DOI":"10.1016\/j.rcim.2006.09.001"},{"key":"S0263574708004451_ref17","doi-asserted-by":"publisher","DOI":"10.1023\/A:1009740326195"},{"key":"S0263574708004451_ref32","doi-asserted-by":"crossref","unstructured":"32. Yang G. , Chen W. and Chen I-M. , \u201cA Geometrical Method for the Singularity Analysis of 3-RRR Planar Parallel Robots with Different Actuation Schemes,\u201d Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems, Lausanne, Switzerland (2002) pp. 2055\u20132060.","DOI":"10.1109\/IRDS.2002.1041568"},{"key":"S0263574708004451_ref34","doi-asserted-by":"crossref","first-page":"1024","DOI":"10.1109\/70.817667","article-title":"Kinematic and dynamic analysis of a double parallel manipulator for enlarging workspace and avoiding singularities","volume":"15","author":"Lee","year":"1999","journal-title":"IEEE Trans. Robot. Autom."},{"key":"S0263574708004451_ref12","first-page":"91","volume-title":"Proceedings of 18th International Symposium on Industrial Robots","author":"Clavel","year":"1988"},{"key":"S0263574708004451_ref30","doi-asserted-by":"publisher","DOI":"10.1115\/1.1582878"},{"key":"S0263574708004451_ref24","doi-asserted-by":"publisher","DOI":"10.1016\/S0094-114X(97)00118-3"},{"key":"S0263574708004451_ref23","doi-asserted-by":"publisher","DOI":"10.1016\/0921-8890(92)90041-V"},{"key":"S0263574708004451_ref22","doi-asserted-by":"publisher","DOI":"10.1016\/0094-114X(96)00023-7"},{"key":"S0263574708004451_ref29","doi-asserted-by":"publisher","DOI":"10.1002\/rob.4620100505"},{"key":"S0263574708004451_ref21","volume-title":"Dynamics. Theory and Applications","author":"Kane","year":"1985"},{"key":"S0263574708004451_ref9","doi-asserted-by":"publisher","DOI":"10.1115\/1.1288485"},{"key":"S0263574708004451_ref7","doi-asserted-by":"publisher","DOI":"10.1007\/978-94-010-9587-7"},{"key":"S0263574708004451_ref1","volume-title":"Robot analysis: The mechanics of serial and parallel manipulator","author":"Tsai","year":"1999"},{"key":"S0263574708004451_ref26","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574705001670"},{"key":"S0263574708004451_ref35","doi-asserted-by":"publisher","DOI":"10.1007\/s11071-006-9138-5"},{"key":"S0263574708004451_ref31","doi-asserted-by":"publisher","DOI":"10.1115\/1.1814652"},{"key":"S0263574708004451_ref19","first-page":"4092","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation ICRA'2003","author":"Li","year":"2003"},{"key":"S0263574708004451_ref27","doi-asserted-by":"publisher","DOI":"10.1109\/ICMECH.2005.1529371"},{"key":"S0263574708004451_ref14","first-page":"4116","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation ICRA'2003","author":"Staicu","year":"2003"},{"key":"S0263574708004451_ref3","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574703005198"},{"key":"S0263574708004451_ref4","volume-title":"Fundamentals of Robotic Mechanical Systems: Theory, Methods and Algorithms","author":"Angeles","year":"2002"},{"key":"S0263574708004451_ref6","doi-asserted-by":"publisher","DOI":"10.1243\/PIME_PROC_1965_180_029_02"},{"key":"S0263574708004451_ref10","unstructured":"10. Herv\u00e9 J.-M. and Sparacino F. , \u201cStar. A New Concept in Robotics,\u201d Proceedings of the Third International Workshop on Advances in Robot Kinematics, Ferrara (1992) pp. 176\u2013183."},{"key":"S0263574708004451_ref13","volume-title":"ASME Design Engineering Technical Conferences","author":"Tsai","year":"1996"},{"key":"S0263574708004451_ref5","doi-asserted-by":"publisher","DOI":"10.1016\/0094-114X(90)90004-4"},{"key":"S0263574708004451_ref15","doi-asserted-by":"publisher","DOI":"10.1115\/1.3258984"},{"key":"S0263574708004451_ref16","first-page":"2032","volume-title":"Proceedings of the 9th World Congress on Theory of Machines and Mechanisms","author":"Gosselin","year":"1995"},{"key":"S0263574708004451_ref25","volume-title":"Mecanica teoretica","author":"Staicu","year":"1998"},{"key":"S0263574708004451_ref18","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574700007669"},{"key":"S0263574708004451_ref11","first-page":"2446","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation ICRA'1999","author":"Tremblay","year":"1999"},{"key":"S0263574708004451_ref33","first-page":"49","article-title":"The Lagrange-Based Model of Delta-4 Robot Dynamics","volume":"8","author":"Miller","year":"1992","journal-title":"Robotersysteme"},{"key":"S0263574708004451_ref20","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574797000477"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574708004451","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,4,7]],"date-time":"2019-04-07T20:07:38Z","timestamp":1554667658000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574708004451\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2009,3]]},"references-count":37,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2009,3]]}},"alternative-id":["S0263574708004451"],"URL":"https:\/\/doi.org\/10.1017\/s0263574708004451","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2009,3]]}}}