{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,29]],"date-time":"2026-01-29T21:05:46Z","timestamp":1769720746684,"version":"3.49.0"},"reference-count":16,"publisher":"Cambridge University Press (CUP)","issue":"2","license":[{"start":{"date-parts":[[2023,12,12]],"date-time":"2023-12-12T00:00:00Z","timestamp":1702339200000},"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":[[2024,2]]},"abstract":"Abstract<\/jats:title>Challenges\/shortages of existing research: Both a topology graph TG and a contracted graph CG are the important tool for the type synthesis of mechanisms and have been studied. Let (b<\/jats:italic>, t<\/jats:italic>, q<\/jats:italic>, p<\/jats:italic>, h<\/jats:italic>) be (binary, ternary, quaternary, pentagonal, hexagonal) link, respectively. Existing TG may include (b<\/jats:italic>, t<\/jats:italic>, q<\/jats:italic>, p<\/jats:italic>, h<\/jats:italic>, \u2026), and existing CG may include (t<\/jats:italic>, q<\/jats:italic>, p<\/jats:italic>, h<\/jats:italic>, \u2026) and exclude b<\/jats:italic>. Therefore, their derivation and isomorphism identification are quite complicated.<\/jats:p>The significance of this research: A novel high-contracted topology graph G<\/jats:italic>j<\/jats:italic>\/i<\/jats:italic><\/jats:sub> including n<\/jats:italic> (q<\/jats:italic>, p<\/jats:italic>, h<\/jats:italic>, \u2026) is proposed in this paper. Since G<\/jats:italic>j<\/jats:italic>\/i<\/jats:italic><\/jats:sub> excludes (b<\/jats:italic>, t<\/jats:italic>), G<\/jats:italic>j<\/jats:italic>\/i<\/jats:italic><\/jats:sub> must be more simple than complex TG and CG, and the derivation and isomorphism identification of various G<\/jats:italic>j<\/jats:italic>\/i<\/jats:italic><\/jats:sub> must be more easily than that of the complex TG and CG.<\/jats:p>This paper focuses on the derivation and isomorphism identification of various G<\/jats:italic>j<\/jats:italic>\/i<\/jats:italic><\/jats:sub> for deriving TG and type synthesis of the complex closed robotic mechanisms with more mechanical advantages and useful functions. First, the conceptions for deriving G<\/jats:italic>j<\/jats:italic>\/i<\/jats:italic><\/jats:sub> and the relations between G<\/jats:italic>j<\/jats:italic>\/i<\/jats:italic><\/jats:sub> and the basic links are explained, the relative rules are determined for representing G<\/jats:italic>j<\/jats:italic>\/i<\/jats:italic><\/jats:sub> and reducing isomorphism of G<\/jats:italic>j<\/jats:italic>\/i<\/jats:italic><\/jats:sub> using the character strings and the digit groups, and many different G<\/jats:italic>j<\/jats:italic>\/i<\/jats:italic><\/jats:sub> are represented based on determined rules. Second, many different G<\/jats:italic>j<\/jats:italic>\/i<\/jats:italic><\/jats:sub> (j<\/jats:italic> = 0, \u2026, 17) are constructed using a circle, several composite curves, and vertex points on the circle based on the character strings and the digit groups. Third, a condition for identifying isomorphism G<\/jats:italic>j<\/jats:italic>\/i<\/jats:italic><\/jats:sub> is discovered and proved using the composite curves and their connections in G<\/jats:italic>j<\/jats:italic>\/i<\/jats:italic><\/jats:sub>. Some isomorphism G<\/jats:italic>j<\/jats:italic>\/i<\/jats:italic><\/jats:sub> are identified from constructed different G<\/jats:italic>j<\/jats:italic>\/i<\/jats:italic><\/jats:sub>. Finally, different G<\/jats:italic>j<\/jats:italic>\/i<\/jats:italic><\/jats:sub> (G<\/jats:italic>7\/7<\/jats:sub>, G<\/jats:italic>11\/11<\/jats:sub>) are illustrated to derive TGs, several complex closed robotic mechanisms are synthesized using derived TGs for creating robotic gripper, a long-stroke robotic pumping unit, and a tunnel robotic excavator.<\/jats:p>","DOI":"10.1017\/s0263574723001637","type":"journal-article","created":{"date-parts":[[2023,12,12]],"date-time":"2023-12-12T07:16:25Z","timestamp":1702365385000},"page":"560-578","source":"Crossref","is-referenced-by-count":1,"title":["Derivation of high-contracted topology graphs for the type synthesis of complex closed robotic mechanisms with more mechanical advantages"],"prefix":"10.1017","volume":"42","author":[{"given":"Yang","family":"Lu","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7234-6930","authenticated-orcid":false,"given":"Yi","family":"Lu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2023,12,12]]},"reference":[{"key":"S0263574723001637_ref12","doi-asserted-by":"publisher","DOI":"10.1016\/0094-114X(91)90038-6"},{"key":"S0263574723001637_ref4","doi-asserted-by":"publisher","DOI":"10.1115\/1.4052335"},{"key":"S0263574723001637_ref8","volume-title":"Structural Synthesis of Parallel Robots (Part 1: Methodology; Part 2: Translational Topologies with Two and Three DoFs; Part 3: Topologies with Planar Motion of the Moving Platform)","author":"Gogu","year":"2009"},{"key":"S0263574723001637_ref2","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2021.104572"},{"key":"S0263574723001637_ref15","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2012.01.018"},{"key":"S0263574723001637_ref1","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2021.104715"},{"key":"S0263574723001637_ref5","doi-asserted-by":"publisher","DOI":"10.1108\/AEAT-10-2020-0237"},{"key":"S0263574723001637_ref3","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2018.08.005"},{"key":"S0263574723001637_ref14","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2020.104144"},{"key":"S0263574723001637_ref6","doi-asserted-by":"publisher","DOI":"10.1299\/jamdsm.2018jamdsm0062"},{"key":"S0263574723001637_ref9","volume-title":"Discussion on Degree of Freedom of Mechanism","author":"Huang","year":"2011"},{"key":"S0263574723001637_ref13","volume-title":"Mechanism Design: Enumeration of Kinematic Structures According to Function","author":"Tsai","year":"2001"},{"key":"S0263574723001637_ref11","volume-title":"Mechanical Design Synthesis: Creative Design and Optimization","author":"Johnson","year":"1987"},{"key":"S0263574723001637_ref7","volume-title":"Topology Structure Design of Robot Mechanisms","author":"Yang","year":"2003"},{"key":"S0263574723001637_ref10","volume-title":"Type Synthesis of Parallel Mechanisms, Springer Tracts in Advanced Robotics","author":"Kong","year":"2007"},{"key":"S0263574723001637_ref16","doi-asserted-by":"publisher","DOI":"10.1007\/s40430-017-0794-9"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574723001637","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,1,15]],"date-time":"2024-01-15T10:28:06Z","timestamp":1705314486000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574723001637\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,12,12]]},"references-count":16,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2024,2]]}},"alternative-id":["S0263574723001637"],"URL":"https:\/\/doi.org\/10.1017\/s0263574723001637","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2023,12,12]]}}}