{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2024,6,6]],"date-time":"2024-06-06T19:59:01Z","timestamp":1717703941076},"reference-count":13,"publisher":"Cambridge University Press (CUP)","issue":"10","license":[{"start":{"date-parts":[[2014,12,23]],"date-time":"2014-12-23T00:00:00Z","timestamp":1419292800000},"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":[[2016,10]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>This paper proposes a novel three-degrees-of-freedom (3-DOF) hybrid manipulator, 3PU*S-PU, which evolves from the general function (Gf) set theory. After discussing the advantages of this new type of hybrid manipulator, this report analyzes the kinematic and Jacobian matrix of the manipulator. Subsequently, the kinematic performances, including stiffness\/compliance, and workspace, undergo analysis, followed by the multi-objective optimization of the compliance and workspace. The Lagrangian method provides the framework for briefly analyzing the dynamics of the proposed manipulator. Finally, the results of this assessment comprise a guideline for controlling the manipulator.<\/jats:p>","DOI":"10.1017\/s0263574714002835","type":"journal-article","created":{"date-parts":[[2014,12,23]],"date-time":"2014-12-23T08:10:09Z","timestamp":1419322209000},"page":"2186-2204","source":"Crossref","is-referenced-by-count":3,"title":["Design, kinematic and dynamic modeling of a novel tripod based manipulator"],"prefix":"10.1017","volume":"34","author":[{"given":"Dan","family":"Zhang","sequence":"first","affiliation":[]},{"given":"Bin","family":"Wei","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2014,12,23]]},"reference":[{"key":"S0263574714002835_ref8","doi-asserted-by":"publisher","DOI":"10.1177\/02783649030229003"},{"key":"S0263574714002835_ref11","doi-asserted-by":"crossref","unstructured":"R. Stamper , L. W. Tsai and G. Walsh , \u201cOptimization of a Three DOF Translational Platform for Well-Conditioned Workspace,\u201d Proceedings of the IEEE International Conference on Robotics and Automation, Albuquerque, NM, USA (1997) pp. 3250\u20133255.","DOI":"10.1109\/ROBOT.1997.606784"},{"key":"S0263574714002835_ref4","doi-asserted-by":"publisher","DOI":"10.1243\/09544062JMES258"},{"key":"S0263574714002835_ref9","doi-asserted-by":"publisher","DOI":"10.1016\/j.rcim.2008.10.002"},{"key":"S0263574714002835_ref3","unstructured":"O. Salgado , O. Altuzarra , V. Petuya and A. Hernandez , \u201cType Synthesis of a Family of 3T1R Fully-Parallel Manipulators using a Group-Theoretic Approach,\u201d 12th IFToMM World Congress on the Theory of Machines and Mechanisms, Besancon, France (2007) pp. 18\u201321."},{"key":"S0263574714002835_ref13","volume-title":"Robot Analysis: The Mechanics of Serial and Parallel Manipulators","author":"Tsai","year":"1999"},{"key":"S0263574714002835_ref1","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2004.10.001"},{"key":"S0263574714002835_ref2","volume-title":"Mechanism Design: Enumeration of Kinematic Structures According to Function","author":"Tsai","year":"2001"},{"key":"S0263574714002835_ref6","doi-asserted-by":"publisher","DOI":"10.1016\/j.rcim.2010.09.006"},{"key":"S0263574714002835_ref10","unstructured":"D. Zhang , Kinetostatic Analysis and Optimization of Parallel and Hybrid Architectures for Machine Tools Ph.D. Thesis (Quebec, Canada: Laval University, 2000)."},{"key":"S0263574714002835_ref12","doi-asserted-by":"crossref","unstructured":"D. Zhang , \u201cGlobal Stiffness Optimization of Parallel Robots using Kinetostatic Performance Indices,\u201d In: Robot Manipulators Trends and Development, ( A. Jimenez and B. M. Al Hadithi , eds.) (InTech, 2010) pp. 125\u2013138.","DOI":"10.5772\/9192"},{"key":"S0263574714002835_ref7","doi-asserted-by":"crossref","unstructured":"W. J. Zhang , P. R. Ouyang and Z. H. Sun , \u201cA Novel Hybridization Design Principle for Intelligent Mechatronics Systems,\u201d Proceedings of International Conference on Advanced Mechatronics (ICAM2010), Osaka, Japan (Oct. 2010) pp. 4\u20136.","DOI":"10.1299\/jsmeicam.2010.5.67"},{"key":"S0263574714002835_ref5","volume-title":"Gf Set Theory for the Type Synthesis of Parallel Manipulators","author":"Gao","year":"2010"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574714002835","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,4,18]],"date-time":"2019-04-18T22:14:58Z","timestamp":1555625698000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574714002835\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2014,12,23]]},"references-count":13,"journal-issue":{"issue":"10","published-print":{"date-parts":[[2016,10]]}},"alternative-id":["S0263574714002835"],"URL":"https:\/\/doi.org\/10.1017\/s0263574714002835","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2014,12,23]]}}}