{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2023,2,19]],"date-time":"2023-02-19T17:28:58Z","timestamp":1676827738089},"reference-count":26,"publisher":"Cambridge University Press (CUP)","issue":"6","license":[{"start":{"date-parts":[[2009,9,21]],"date-time":"2009-09-21T00:00:00Z","timestamp":1253491200000},"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":[[2010,10]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>A novel analytic approach is proposed for determining the singularities of some four degree of freedom (DOF) parallel manipulators (PMs). First, the constraint and displacement of a general 4-DOF PM are analyzed. Second, a common 3 \u00d7 4 translational Jacobian matrix <jats:bold>J<\/jats:bold><jats:sub>\u03bd<\/jats:sub> and a common 3 \u00d7 4 rotational Jacobian matrix <jats:bold>J<\/jats:bold><jats:sub>\u03c9<\/jats:sub> are derived, and a 4 \u00d7 4 general Jacobian matrix <jats:bold>J<\/jats:bold> of the 4-DOF PMs is derived from <jats:bold>J<\/jats:bold><jats:sub>\u03bd<\/jats:sub> and <jats:bold>J<\/jats:bold><jats:sub>\u03c9<\/jats:sub>. Since a complicated process to determine singularities from the 4 \u00d7 6 Jacobian matrix is transformed into a simple process to determine singularity from <jats:bold>J<\/jats:bold>, the singularities of the some 4-DOF PMs with 3 translations and 1 rotation, or with 3 rotations and 1 translation, or with combined translation\u2013rotations are analyzed and determined easily by this approach.<\/jats:p>","DOI":"10.1017\/s0263574709990518","type":"journal-article","created":{"date-parts":[[2009,9,21]],"date-time":"2009-09-21T08:52:58Z","timestamp":1253523178000},"page":"811-819","source":"Crossref","is-referenced-by-count":6,"title":["Determination of singularities of some 4-DOF parallel manipulators by translational\/rotational Jacobian matrices"],"prefix":"10.1017","volume":"28","author":[{"given":"Yi","family":"Lu","sequence":"first","affiliation":[]},{"given":"Yan","family":"Shi","sequence":"additional","affiliation":[]},{"given":"Jianping","family":"Yu","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2009,9,21]]},"reference":[{"key":"S0263574709990518_ref13","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2005.10.012"},{"key":"S0263574709990518_ref17","doi-asserted-by":"publisher","DOI":"10.1016\/S0094-114X(03)00105-8"},{"key":"S0263574709990518_ref10","doi-asserted-by":"publisher","DOI":"10.1177\/02783640122067426"},{"key":"S0263574709990518_ref23","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2007.08.002"},{"key":"S0263574709990518_ref14","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2004.10.004"},{"key":"S0263574709990518_ref12","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2003.08.003"},{"key":"S0263574709990518_ref16","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2004.05.007"},{"key":"S0263574709990518_ref6","doi-asserted-by":"publisher","DOI":"10.1002\/(SICI)1097-4563(199712)14:12<851::AID-ROB3>3.0.CO;2-T"},{"key":"S0263574709990518_ref26","doi-asserted-by":"publisher","DOI":"10.1007\/s11044-007-9054-6"},{"key":"S0263574709990518_ref22","first-page":"160","article-title":"Determining singularity of parallel manipulators with n linear active legs by CAD variation geometry","volume":"23","author":"Lu","year":"2008","journal-title":"Int. J. Robot. Autom."},{"key":"S0263574709990518_ref15","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2004.07.011"},{"key":"S0263574709990518_ref19","doi-asserted-by":"publisher","DOI":"10.1016\/S0094-114X(03)00065-X"},{"key":"S0263574709990518_ref11","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2005.12.006"},{"key":"S0263574709990518_ref18","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2005.01.001"},{"key":"S0263574709990518_ref1","volume-title":"Advanced Spatial Mechanism","author":"Huang","year":"2006"},{"key":"S0263574709990518_ref9","doi-asserted-by":"publisher","DOI":"10.1177\/02783640122068146"},{"key":"S0263574709990518_ref4","doi-asserted-by":"publisher","DOI":"10.1177\/0278364905054655"},{"key":"S0263574709990518_ref5","doi-asserted-by":"publisher","DOI":"10.1177\/027836498900800504"},{"key":"S0263574709990518_ref25","doi-asserted-by":"publisher","DOI":"10.1115\/1.2771572"},{"key":"S0263574709990518_ref20","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2004.07.007"},{"key":"S0263574709990518_ref24","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2008.12.001"},{"key":"S0263574709990518_ref8","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2004.07.009"},{"key":"S0263574709990518_ref2","doi-asserted-by":"publisher","DOI":"10.1002\/rob.10078"},{"key":"S0263574709990518_ref7","doi-asserted-by":"publisher","DOI":"10.1115\/1.1649970"},{"key":"S0263574709990518_ref3","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574705001876"},{"key":"S0263574709990518_ref21","first-page":"1542","volume-title":"IEEE International Conference on Robotics and Automation","author":"Ma","year":"1991"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574709990518","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,4,27]],"date-time":"2019-04-27T21:20:33Z","timestamp":1556400033000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574709990518\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2009,9,21]]},"references-count":26,"journal-issue":{"issue":"6","published-print":{"date-parts":[[2010,10]]}},"alternative-id":["S0263574709990518"],"URL":"https:\/\/doi.org\/10.1017\/s0263574709990518","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2009,9,21]]}}}