{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,24]],"date-time":"2026-03-24T03:13:00Z","timestamp":1774321980322,"version":"3.50.1"},"reference-count":0,"publisher":"Cambridge University Press (CUP)","issue":"4","license":[{"start":{"date-parts":[[1997,7,1]],"date-time":"1997-07-01T00:00:00Z","timestamp":867715200000},"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":[[1997,7]]},"abstract":"<jats:p>A new kinematic design of a parallel spherical wrist with actuator\nredundancy is presented. A special feature of this parallel manipulator is the\narrangement of co-axial actuators which allows unlimited rotation about any axis\ninside a cone-shaped workspace. A detailed kinematic analysis has shown that\nactuator redundancy not only removes singularities but also increases workspace\nwhile improving dexterity. The structure optimization has been performed with a\nglobal dexterity criterion. Using a conditioning measure, a comparison with a\nnon-redundant structure of the same type was performed and shows that a\nsignificant improvement in dexterity has been obtained.<\/jats:p>","DOI":"10.1017\/s0263574797000490","type":"journal-article","created":{"date-parts":[[2002,7,27]],"date-time":"2002-07-27T13:36:08Z","timestamp":1027776968000},"page":"399-405","source":"Crossref","is-referenced-by-count":57,"title":["Optimal design of a\nredundant spherical parallel manipulator"],"prefix":"10.1017","volume":"15","author":[{"given":"Sylvie","family":"Leguay-Durand","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Claude","family":"Reboulet","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[1997,7,1]]},"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574797000490","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,5,11]],"date-time":"2019-05-11T20:38:15Z","timestamp":1557607095000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574797000490\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1997,7]]},"references-count":0,"journal-issue":{"issue":"4","published-print":{"date-parts":[[1997,7]]}},"alternative-id":["S0263574797000490"],"URL":"https:\/\/doi.org\/10.1017\/s0263574797000490","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[1997,7]]}}}