{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,2,21]],"date-time":"2025-02-21T16:33:38Z","timestamp":1740155618843,"version":"3.37.3"},"reference-count":16,"publisher":"Wiley","license":[{"start":{"date-parts":[[2014,1,1]],"date-time":"2014-01-01T00:00:00Z","timestamp":1388534400000},"content-version":"unspecified","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by\/3.0\/"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["51375360","K505131000087"],"award-info":[{"award-number":["51375360","K505131000087"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100012226","name":"Fundamental Research Funds for the Central Universities","doi-asserted-by":"crossref","award":["51375360","K505131000087"],"award-info":[{"award-number":["51375360","K505131000087"]}],"id":[{"id":"10.13039\/501100012226","id-type":"DOI","asserted-by":"crossref"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Journal of Robotics"],"published-print":{"date-parts":[[2014]]},"abstract":"<jats:p>Compared with conventional mechanisms, tensegrity mechanisms have many attractive characteristics such as light weight, high ratio of strength to weight, and accuracy of modeling. In this paper, the kinematics, singularity, and workspaces of a planar 4-bar tensegrity mechanism have been investigated. Firstly, the analytical solutions to the forward and inverse kinematic problems are found by using an energy based method. Secondly, the definition of a tensegrity mechanism\u2019s Jacobian is introduced. As a consequence, the singularity analysis of the planar 4-bar tensegrity mechanism has been completed. Thirdly, the actuator and output workspaces are mapped. Finally, some attractive characteristics of the mechanism are concluded.<\/jats:p>","DOI":"10.1155\/2014\/967251","type":"journal-article","created":{"date-parts":[[2014,3,26]],"date-time":"2014-03-26T07:17:50Z","timestamp":1395818270000},"page":"1-10","source":"Crossref","is-referenced-by-count":3,"title":["Kinematics, Singularity, and Workspaces of a Planar 4-Bar Tensegrity Mechanism"],"prefix":"10.1155","volume":"2014","author":[{"given":"Zhifei","family":"Ji","sequence":"first","affiliation":[{"name":"School of Electro-Mechanical Engineering, Xidian University, P.O. Box 188, Xi'an 710071, China"}]},{"given":"Tuanjie","family":"Li","sequence":"additional","affiliation":[{"name":"School of Electro-Mechanical Engineering, Xidian University, P.O. Box 188, Xi'an 710071, China"}]},{"given":"Min","family":"Lin","sequence":"additional","affiliation":[{"name":"School of Electro-Mechanical Engineering, Xidian University, P.O. 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