{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,25]],"date-time":"2026-03-25T16:15:30Z","timestamp":1774455330090,"version":"3.50.1"},"reference-count":18,"publisher":"Cambridge University Press (CUP)","issue":"6","license":[{"start":{"date-parts":[[2009,3,25]],"date-time":"2009-03-25T00:00:00Z","timestamp":1237939200000},"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":[[2009,10]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>The workspace of a parallel manipulator is usually smaller than the size of the robot itself. It is important to derive new structures that enjoy the advantages of parallel manipulators and also have a large workspace. In this paper we present two configurations of similar structures RRRS and RRSR with rotating links. The RRRS structure has a relatively large workspace\u2014larger than the size of the robot itself\u2014which is not common in parallel robots. The inverse and forward kinematics of the robots are presented. The workspaces of the robots are compared to similar and well-known structures, such as Eclipse, Alizade, Delta, and Hexa robots.<\/jats:p>","DOI":"10.1017\/s0263574708005286","type":"journal-article","created":{"date-parts":[[2009,1,15]],"date-time":"2009-01-15T10:42:48Z","timestamp":1232016168000},"page":"891-895","source":"Crossref","is-referenced-by-count":40,"title":["Novel 6-DOF parallel manipulator with large workspace"],"prefix":"10.1017","volume":"27","author":[{"given":"Daniel","family":"Glozman","sequence":"first","affiliation":[]},{"given":"Moshe","family":"Shoham","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2009,3,25]]},"reference":[{"key":"S0263574708005286_ref9","doi-asserted-by":"crossref","unstructured":"9. Ben-Horin R. and Shoham M. , \u201cSix-Degree-of-Freedom Parallel Manipulator with Three Planarly Actuated Links,\u201d IEEE International Conference on Intelligent Robots and Systems Vol. 3, Grenoble, France (September 1997).","DOI":"10.1115\/96-DETC\/MECH-1561"},{"key":"S0263574708005286_ref7","unstructured":"7. Simaan N. , Glozman D. and Shoham M. , \u201cDesign Con-siderations of new types of Six-Degrees-of-Freedom Parallel Manipulators,\u201d Proceedings of the IEEE International Conference on Robotics and Automation, Belgium, Vol. 2 (1998) pp. 1327\u20131333."},{"key":"S0263574708005286_ref13","doi-asserted-by":"publisher","DOI":"10.1016\/0094-114X(94)90024-8"},{"key":"S0263574708005286_ref1","doi-asserted-by":"publisher","DOI":"10.1115\/1.2912612"},{"key":"S0263574708005286_ref5","volume-title":"Les Robots Paralleles","author":"Merlet","year":"2006"},{"key":"S0263574708005286_ref12","doi-asserted-by":"publisher","DOI":"10.1177\/02783649922066646"},{"key":"S0263574708005286_ref8","volume-title":"Master Thesis","author":"Simaan","year":"1999"},{"key":"S0263574708005286_ref16","doi-asserted-by":"crossref","unstructured":"16. Angeles J. , Yang G. and Chen I. M. , \u201cSingularity analysis of three-legged, six-DOF platform manipulators with RRRS legs,\u201d IEEE\/ASME International Conference on Advanced Intelligent Mechatronics, AIM, Vol. 1, Como, Italy (July 2001) pp. 32\u201336.","DOI":"10.1109\/AIM.2001.936426"},{"key":"S0263574708005286_ref11","doi-asserted-by":"publisher","DOI":"10.1016\/S0094-114X(00)00031-8"},{"key":"S0263574708005286_ref15","first-page":"19","volume-title":"ICAR","author":"Pierrot","year":"1991"},{"key":"S0263574708005286_ref17","doi-asserted-by":"publisher","DOI":"10.1016\/S0736-5845(97)00035-5"},{"key":"S0263574708005286_ref2","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574701003812"},{"key":"S0263574708005286_ref10","first-page":"178","article-title":"Workspace analysis and optimization of a novel 3-DOF parallel manipulator","volume":"15","author":"Carretero","year":"2000","journal-title":"Int. J. Rob. Automat."},{"key":"S0263574708005286_ref14","unstructured":"14. Clavel R. , \u201cDelta: A Fast Robot with Parallel Geometry,\u201d 18th International Symposium on Industrial Robots, Lausanne, Switzerland (April 1988) pp. 91\u2013100."},{"key":"S0263574708005286_ref3","doi-asserted-by":"publisher","DOI":"10.1177\/027836499701600407"},{"key":"S0263574708005286_ref18","first-page":"76","volume-title":"Lessons Introductory to the Modern High Algebra","author":"Salmon","year":"1964"},{"key":"S0263574708005286_ref6","unstructured":"6. Merlet J.-P. , http:\/\/www-sop.inria.fr\/members\/Jean-Pierre.Merlet\/merlet-eng.html (Access date: January 3, 2009)."},{"key":"S0263574708005286_ref4","doi-asserted-by":"publisher","DOI":"10.1115\/1.1462621"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574708005286","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,2,7]],"date-time":"2025-02-07T00:02:43Z","timestamp":1738886563000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574708005286\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2009,3,25]]},"references-count":18,"journal-issue":{"issue":"6","published-print":{"date-parts":[[2009,10]]}},"alternative-id":["S0263574708005286"],"URL":"https:\/\/doi.org\/10.1017\/s0263574708005286","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2009,3,25]]}}}