{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T09:54:37Z","timestamp":1777715677730,"version":"3.51.4"},"reference-count":31,"publisher":"SAGE Publications","issue":"6","license":[{"start":{"date-parts":[[1999,6,1]],"date-time":"1999-06-01T00:00:00Z","timestamp":928195200000},"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":[[1999,6]]},"abstract":"<jats:p>When the leg rods of a fully in-parallel manipulator are fixed in their lengths, it is usual that the device can be assembled in several distinct ways. Sometimes it happens that motion between such assemblies can take place such that the linkage is never at a special configuration; that is, a configuration where the moving-platform body acquires uncontrollable freedom relative to the base. The possibility of such motion has implications for control. Focusing on 3\u20133 devices, we present a geometric explanation of how these motions arise, and give a sufficient condition for their existence. For the 3\u20133 planar-motion device, we show that never-special assembly changing motions can be excluded by making platform and base triangles similar, and we conjecture that appropriate, perhaps identical, specialization for the octahedral manipulator has the same effect.<\/jats:p>","DOI":"10.1177\/02783649922066394","type":"journal-article","created":{"date-parts":[[2003,7,19]],"date-time":"2003-07-19T02:59:46Z","timestamp":1058583586000},"page":"556-574","source":"Crossref","is-referenced-by-count":62,"title":["An Explanation of Never-Special Assembly Changing Motions for 3\u20133                 Parallel Manipulators"],"prefix":"10.1177","volume":"18","author":[{"given":"P. R.","family":"McAree","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"R. W.","family":"Daniel","sequence":"additional","affiliation":[{"name":"Department of Engineering Science, The University of Oxford, Oxford,                         OX1-3PJ, UK"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[1999,6,1]]},"reference":[{"key":"atypb1","doi-asserted-by":"crossref","unstructured":"Bruce, J. W., and Giblin, P. J. 1992. Curves and Singularities: A Geometrical Introduction to Singularity Theory, 2nd ed. Cambridge University Press .","DOI":"10.1017\/CBO9781139172615"},{"key":"atypb2","unstructured":"Burdick, J. W. 1988. Kinematic analysis and design of redundant manipulators. PhD thesis, Stanford University."},{"key":"atypb3","unstructured":"Charentus, S., and Renaud, M. 1989. Modeling and control of a modular, redundant robot manipulator. Technical Report 89255 (June), Laboratoire d\u2019Automatique et d\u2019Analyse des Syst\u00e8mes, Centre National de la Recherche Scientifique."},{"key":"atypb4","doi-asserted-by":"crossref","unstructured":"Daniel, R. W., and McAree, P. R. 1998. Fundamental limits of performance for force-reflecting teleoperation . Intl. J. Robot. Res. 17(8).","DOI":"10.1177\/027836499801700801"},{"key":"atypb5","doi-asserted-by":"publisher","DOI":"10.1016\/0094-114X(94)90001-9"},{"key":"atypb6","doi-asserted-by":"publisher","DOI":"10.1016\/0094-114X(92)90001-X"},{"key":"atypb7","unstructured":"Hartenberg, R. S., and Denavit, J. 1964. Kinematic Synthesis of Linkages (series in mechanical engineering.) New York: McGraw-Hill ."},{"key":"atypb8","doi-asserted-by":"publisher","DOI":"10.1115\/1.3258540"},{"key":"atypb9","unstructured":"Hunt, K. H. 1990. Kinematic Geometry of Mechanisms. Oxford: Clarendon Press ."},{"key":"atypb10","doi-asserted-by":"publisher","DOI":"10.1177\/027836499801700805"},{"key":"atypb11","doi-asserted-by":"publisher","DOI":"10.1016\/0094-114X(93)90044-V"},{"key":"atypb12","doi-asserted-by":"publisher","DOI":"10.1115\/1.2826679"},{"key":"atypb13","unstructured":"Kailath, T. 1980. Linear Systems. Englewood Cliffs, NJ: Prentice-Hall ."},{"key":"atypb14","doi-asserted-by":"publisher","DOI":"10.1177\/027836499801701005"},{"key":"atypb15","doi-asserted-by":"publisher","DOI":"10.1002\/(SICI)1097-4563(199607)13:7<407::AID-ROB1>3.0.CO;2-S"},{"key":"atypb16","doi-asserted-by":"publisher","DOI":"10.1177\/027836499101000501"},{"key":"atypb17","unstructured":"Merlet, J.P. 1990. Les robots parall\u00e8les. Trait\u00e9 des Nouvelles Technologies, S\u00e9rie Robotique. France: Hermes ."},{"key":"atypb18","doi-asserted-by":"publisher","DOI":"10.1177\/027836499201100205"},{"key":"atypb19","unstructured":"M\u00fcller, R. 1903. Zur Lehrevonder Moment an begegungeines starren eben Systems: Eine Eigenschaft der Burmesterschen Punkte (The theory of the momentary motion of the rigid plane system: A property of the Burmester points.) Z. Math. Phys. (Special Report): 210\u2013216 . (Trans. 1962, Kansas State University Bulletin 46: 6)."},{"key":"atypb20","doi-asserted-by":"publisher","DOI":"10.1109\/70.59354"},{"key":"atypb21","doi-asserted-by":"crossref","unstructured":"Pai, D. K., and Leu, M. C. 1989 (Scottsdale, AZ). Generic singularities of robot manipulators . Proc. of the IEEE Intl. Conf. on Robot. and Automat. Los Alamitos, CA: IEEE.","DOI":"10.21236\/ADA210116"},{"key":"atypb22","unstructured":"Pieper, D. 1968. The kinematics of manipulators under computer control. PhD thesis, Stanford University."},{"key":"atypb23","doi-asserted-by":"crossref","unstructured":"Poston, T., and Stewart, I. 1978. Catastrophe Theory and Its Applications. Pitman .","DOI":"10.1063\/1.2995174"},{"key":"atypb24","unstructured":"Roberts, S. 1879. On three-bar motion in place space . Proc. London Math. Soc. 7-7 ."},{"key":"atypb25","unstructured":"Schoenflies, A. 1886. Geometrie der Bewegung in synthetischer Darstellung. Leipzig: Teubner . (See also the French trans., La G\u00e9om\u00e9rie du Mouvement, Paris 1893.)"},{"key":"atypb26","unstructured":"Strang, G. 1988. Linear Algebra and Its Applications, 3rd ed. Orlando, FL: Harcourt Brace Jovanovich ."},{"key":"atypb27","doi-asserted-by":"publisher","DOI":"10.1016\/0094-114X(95)00068-A"},{"key":"atypb28","doi-asserted-by":"publisher","DOI":"10.1115\/1.2826976"},{"key":"atypb29","doi-asserted-by":"crossref","unstructured":"Wenger, P., and Chablat, D. 1998. Workspace and assembly modes in fully parallel manipulators: A descriptive study . Proc. of the 6th. Intl. Symp. on Advances in Robot Kinematics. Salzburg, Austria.","DOI":"10.1007\/978-94-015-9064-8_12"},{"key":"atypb30","unstructured":"Wenger, P., and Omri, J. E. 1995 (San Feliu de Glixol, Spain). How to recognize simply a nonsingular posture changing 3-DOF manipulator . Proc. of the 7th. Intl. Conf. on Adv. Robot."},{"key":"atypb31","doi-asserted-by":"publisher","DOI":"10.2307\/1970070"}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/02783649922066394","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/02783649922066394","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T10:15:53Z","timestamp":1777457753000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/02783649922066394"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1999,6]]},"references-count":31,"journal-issue":{"issue":"6","published-print":{"date-parts":[[1999,6]]}},"alternative-id":["10.1177\/02783649922066394"],"URL":"https:\/\/doi.org\/10.1177\/02783649922066394","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"value":"0278-3649","type":"print"},{"value":"1741-3176","type":"electronic"}],"subject":[],"published":{"date-parts":[[1999,6]]}}}