{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2022,4,2]],"date-time":"2022-04-02T12:15:13Z","timestamp":1648901713036},"reference-count":20,"publisher":"Cambridge University Press (CUP)","issue":"10","license":[{"start":{"date-parts":[[2015,2,11]],"date-time":"2015-02-11T00:00:00Z","timestamp":1423612800000},"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>A novel n(2-UPS\/PS+RPS) spatial hyper-redundant manipulator (SHRM) formed by an optional number of 2-UPS\/PS+RPS(2-universal joint-prismatic joint-spherical joint\/prismatic joint-spherical joint+revolute joint-prismatic joint-spherical joint) parallel manipulators(PMs) connected in series is proposed and analyzed in this paper. First, the forward kinematics of the 2-UPS\/PS+RPS PM is derived in close form. By extending this result to the whole SHRM, the forward kinematics model of the n(2-UPS\/PS+RPS) SHRM is established. Second, the compact and elegant expressions for solving the forward velocity of the n(2-UPS\/PS+RPS) SHRM are derived. Third, the statics and stiffness of the n(2-UPS\/PS+RPS) SHRM are analyzed systematically by considering both active forces and constrained forces existed in each 2-UPS\/PS+RPS PM. Finally, an analytically solved example is given for a 4(2-UPS\/PS+RPS) SHRM formed by four 2-UPS\/PS+RPS PMs. The analytical results are verified by CAD software.<\/jats:p>","DOI":"10.1017\/s026357471500003x","type":"journal-article","created":{"date-parts":[[2015,2,11]],"date-time":"2015-02-11T15:06:13Z","timestamp":1423667173000},"page":"2386-2399","source":"Crossref","is-referenced-by-count":4,"title":["Solving kinematics and stiffness of a novel n(2-UPS\/PS+RPS) spatial hyper-redundant manipulator"],"prefix":"10.1017","volume":"34","author":[{"given":"Bo","family":"Hu","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yin","family":"Wang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jingjing","family":"Yu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yi","family":"Lu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2015,2,11]]},"reference":[{"key":"S026357471500003X_ref15","doi-asserted-by":"publisher","DOI":"10.1115\/1.1540992"},{"key":"S026357471500003X_ref11","doi-asserted-by":"publisher","DOI":"10.1007\/s11044-008-9121-7"},{"key":"S026357471500003X_ref12","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2009.11.007"},{"key":"S026357471500003X_ref14","doi-asserted-by":"publisher","DOI":"10.3901\/CJME.2011.05.713"},{"key":"S026357471500003X_ref10","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2010.09.005"},{"key":"S026357471500003X_ref19","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2007.08.002"},{"key":"S026357471500003X_ref5","doi-asserted-by":"publisher","DOI":"10.1016\/S0094-114X(98)00079-2"},{"key":"S026357471500003X_ref4","doi-asserted-by":"publisher","DOI":"10.1002\/rob.10070"},{"key":"S026357471500003X_ref20","doi-asserted-by":"publisher","DOI":"10.1016\/S0094-114X(03)00103-4"},{"key":"S026357471500003X_ref2","volume-title":"Fundamentals of Robotic Mechanical Systems","author":"Angeles","year":"2003"},{"key":"S026357471500003X_ref9","doi-asserted-by":"publisher","DOI":"10.1016\/j.rcim.2013.05.004"},{"key":"S026357471500003X_ref17","doi-asserted-by":"publisher","DOI":"10.1016\/j.rcim.2011.09.007"},{"key":"S026357471500003X_ref8","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574708004918"},{"key":"S026357471500003X_ref7","doi-asserted-by":"publisher","DOI":"10.1016\/j.rcim.2014.03.001"},{"key":"S026357471500003X_ref18","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2006.11.002"},{"key":"S026357471500003X_ref16","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2012.05.013"},{"key":"S026357471500003X_ref13","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2012.02.009"},{"key":"S026357471500003X_ref6","doi-asserted-by":"publisher","DOI":"10.1023\/A:1009843930506"},{"key":"S026357471500003X_ref3","doi-asserted-by":"crossref","first-page":"15","DOI":"10.1007\/s10514-006-5204-6","article-title":"Analysis of creeping locomotion of a snake-like robot on a slope","volume":"20","author":"Shugen","year":"2006","journal-title":"Auton. 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