{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T09:59:26Z","timestamp":1777715966568,"version":"3.51.4"},"reference-count":10,"publisher":"SAGE Publications","issue":"1","license":[{"start":{"date-parts":[[2004,1,1]],"date-time":"2004-01-01T00:00:00Z","timestamp":1072915200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2004,1]]},"abstract":"<jats:p>The DELTA robot and the manipulators derived from the DELTA robot are a relevant class of translational manipulators. In this paper, the mobility analysis of these parallel translational manipulators is developed in full. The manufacturing and mounting conditions that guarantee the pure translation of the platform are analytically derived. Moreover, it is demonstrated that these manipulators can assume singular configurations, called rotation singularities, in which they are no longer able to impose the platform translation. Finally, the geometric and analytic conditions that make it possible to find all the singular configurations of these manipulators are provided.<\/jats:p>","DOI":"10.1177\/0278364904039689","type":"journal-article","created":{"date-parts":[[2004,5,27]],"date-time":"2004-05-27T09:25:01Z","timestamp":1085649901000},"page":"89-96","source":"Crossref","is-referenced-by-count":18,"title":["Determination of Singularities in Delta-Like Manipulators"],"prefix":"10.1177","volume":"23","author":[{"given":"Raffaele","family":"Di Gregorio","sequence":"first","affiliation":[{"name":"Department of Engineering University of Ferrara Via Saragat,1, 44100                        Ferrara, Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2004,1,1]]},"reference":[{"key":"atypb1","unstructured":"Clavel, R. 1988. DELTA: A fast robot with parallel geometry . In Proceedings of the 18th International Symposium on Industrial Robots, Sydney, Australia, 91\u2013100 ."},{"key":"atypb2","unstructured":"Clavel, R., Bouri, M., Grousset, S., and Thurneysen, M. 1999. A new 4-DoF parallel robot: the Manta . In Proceedings of the International Workshop on Parallel Kinematic Machines, PKM\u201999, Milan, Italy, 95\u2013100 ."},{"key":"atypb3","unstructured":"Di Gregorio, R. 2000. Closed-form solution of the position analysis of the pure translational 3-RUU parallel mechanism . In Proceedings of the 8th Symposium on Mechanisms and Mechanical Transmissions, MTM 2000, Timisoara, Romania, Vol. 1, 119\u2013124 ."},{"key":"atypb4","doi-asserted-by":"crossref","unstructured":"Di Gregorio, R., and Parenti-Castelli, V. 1998. A translational 3-DoF parallel manipulator. In J. Lenarcic and M.L. 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In Proceedings of the 1999 IEEE\/ASME International Conference on Advanced Intelligence Mechatronics, AIM\u201999, Atlanta, GA, 508\u2013513 .","DOI":"10.1109\/AIM.1999.803222"},{"key":"atypb8","unstructured":"Stamper, R. E., Tsai, L. W., and Walsh, G. C. 1997. Optimization of a three-DoF translational platform for wellconditioned workspace . In Proceedings of the IEEE International Conference on Robotics and Automation, paper no. A1-MF-0025."},{"key":"atypb9","doi-asserted-by":"crossref","unstructured":"Tsai, L. W. 1996. Kinematics of a three-DoF platform with three extensible limbs. In J. Lenarcic and V. Parenti-Castelli, editors, Recent Advances in Robot Kinematics, Kluwer Academic, Dordrecht , 401\u2013410.","DOI":"10.1007\/978-94-009-1718-7_40"},{"key":"atypb10","unstructured":"Zobel, P. B., Di Stefano, P., and Raparelli, T. 1996. The design of a 3-DoF parallel robot with pneumatic drives . 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