{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,28]],"date-time":"2026-02-28T20:03:14Z","timestamp":1772308994775,"version":"3.50.1"},"reference-count":23,"publisher":"MDPI AG","issue":"1","license":[{"start":{"date-parts":[[2021,1,11]],"date-time":"2021-01-11T00:00:00Z","timestamp":1610323200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"<jats:p>In this research, the structural synthesis of lower-class robot manipulators with general constraint one is investigated. The number of constraints d\u00a0=\u00a01 and the mobility number \u03bb\u00a0=\u00a05 for sphere\u2013sphere and sphere\u2013plane combinations of higher kinematic pairs are investigated by using the analytical approach. Structural synthesis of new first- and second-class robot manipulators is investigated by using transformations of higher kinematic pairs to lower kinematic pairs. Therefore, using this approach, we obtain structural groups with general constraint one. Further, kinematic structures and physical models of overconstrained robot manipulators are presented in the research.<\/jats:p>","DOI":"10.3390\/robotics10010014","type":"journal-article","created":{"date-parts":[[2021,1,11]],"date-time":"2021-01-11T20:32:47Z","timestamp":1610397167000},"page":"14","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":8,"title":["Structural Synthesis of Lower-Class Robot Manipulators with General Constraint One"],"prefix":"10.3390","volume":"10","author":[{"given":"Rasim","family":"Alizade","sequence":"first","affiliation":[{"name":"Theory of Machines and Mechanisms Department, Azerbaijan Technical University, Baku AZ1073, Azerbaijan"}]},{"given":"Suleyman","family":"Soltanov","sequence":"additional","affiliation":[{"name":"Theory of Machines and Mechanisms Department, Azerbaijan Technical University, Baku AZ1073, Azerbaijan"}]},{"given":"Abusalat","family":"Hamidov","sequence":"additional","affiliation":[{"name":"Theory of Machines and Mechanisms Department, Azerbaijan Technical University, Baku AZ1073, Azerbaijan"}]}],"member":"1968","published-online":{"date-parts":[[2021,1,11]]},"reference":[{"key":"ref_1","unstructured":"Sarrus, P.F. 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