{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T01:28:31Z","timestamp":1760146111536,"version":"build-2065373602"},"reference-count":55,"publisher":"MDPI AG","issue":"10","license":[{"start":{"date-parts":[[2024,10,1]],"date-time":"2024-10-01T00:00:00Z","timestamp":1727740800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Science Committee of Ministry of Science and Higher Education of Kazakhstan","award":["AP14872115"],"award-info":[{"award-number":["AP14872115"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"<jats:p>This paper presents a structural\u2013parametric synthesis of the four-link and Stephenson I, Stephenson II, and Stephenson III six-link path-generating mechanisms. The four-link path-generating mechanism is formed by connecting the output point and the base using an active closing kinematic chain (CKC) with two DOFs and a negative CKC of the type RR. The six-link path-generating mechanisms are formed by connecting the output point and the base by active, passive and negative CKCs. Active CKC has active kinematic pair, passive CKC has zero DOF, and negative CKC has a negative DOF. Active and negative CKCs impose geometrical constraints on the movement of the output point, and the geometric parameters of their links are determined by least-square approximation. Geometric parameters of the passive CKC are varied to satisfy the geometrical constraints of the active and negative CKCs. The CKCs of the active, passive and negative types, connecting the output point and the base, are the structural modules from which the different types of the path-generating mechanisms are synthesized. Numerical examples of the parametric synthesis of the four-link and six-link path-generating mechanisms are presented.<\/jats:p>","DOI":"10.3390\/robotics13100149","type":"journal-article","created":{"date-parts":[[2024,10,2]],"date-time":"2024-10-02T03:57:08Z","timestamp":1727841428000},"page":"149","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["Structural\u2013Parametric Synthesis of Path-Generating Mechanisms and Manipulators"],"prefix":"10.3390","volume":"13","author":[{"given":"Zhumadil","family":"Baigunchekov","sequence":"first","affiliation":[{"name":"Department of Mechanics, Al-Farabi Kazakh National University, Almaty 050040, Kazakhstan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0797-7669","authenticated-orcid":false,"given":"Med Amine","family":"Laribi","sequence":"additional","affiliation":[{"name":"Department of GMSC, Prime Institute CNRS, ENSMA, University of Poitiers, UPR 3346, 86073 Poitiers, France"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0831-8358","authenticated-orcid":false,"given":"Giuseppe","family":"Carbone","sequence":"additional","affiliation":[{"name":"Department of Mechanical, Energy and Management Engineering, University of Calabria, Via Bucci Cubo 45C, 87036 Rende, Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4934-5494","authenticated-orcid":false,"given":"Xuelin","family":"Wang","sequence":"additional","affiliation":[{"name":"Institute of Automation, Shandong Academy of Sciences, Jinan 250103, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Qian","family":"Li","sequence":"additional","affiliation":[{"name":"Institute of Automation, Shandong Academy of Sciences, Jinan 250103, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Dong","family":"Zhang","sequence":"additional","affiliation":[{"name":"Institute of Automation, Shandong Academy of Sciences, Jinan 250103, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Rustem","family":"Kaiyrov","sequence":"additional","affiliation":[{"name":"Laboratory of Applied Mechanics and Robotics, Karaganda Buketov University, Karaganda 100001, Kazakhstan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zhadyra","family":"Zhumasheva","sequence":"additional","affiliation":[{"name":"Department of Mechanics, Al-Farabi Kazakh National University, Almaty 050040, Kazakhstan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0009-0009-4482-7943","authenticated-orcid":false,"given":"Birlik","family":"Sagitzhanov","sequence":"additional","affiliation":[{"name":"Department of Mechanics, Al-Farabi Kazakh National University, Almaty 050040, Kazakhstan"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2024,10,1]]},"reference":[{"key":"ref_1","first-page":"187","article-title":"Investigation of plane hinged mechanism with lower pairs from the point of view of their structure and classification","volume":"20","author":"Assur","year":"1914","journal-title":"Bull. 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