Kinematic design of 3-URU pure rotational parallel mechanism to perform precise motion within a large workspace View Full Text


Ontology type: schema:ScholarlyArticle     


Article Info

DATE

2011-02

AUTHORS

Syamsul Huda, Yukio Takeda, Shuta Hanagasaki

ABSTRACT

We present an optimum design of lower-dof parallel mechanism, a 3-URU pure rotational parallel mechanism that reflects issues of workspace and the position error of the center of rotation of the platform. The uncompensatable error determined by position error of center of rotation was used as an evaluation index for the design. The uncompensatable error index, an index used in the optimum design, was proposed taking into account four sources of errors, representing errors between adjacent joints. Based on the application of the mechanism and the error index, the effect of the redundant platform orientation parameter was numerically investigated and the design flow of the mechanism was proposed. We made a kinematic design of a mechanism with a large workspace subject to minimization of platform’s position error of the center of rotation. A prototype of mechanism with a large inclination angle of the platform up to 1.3 rad was shown, and its characteristics are also discussed. More... »

PAGES

89-100

Journal

TITLE

Meccanica

ISSUE

1

VOLUME

46

Author Affiliations

Identifiers

URI

http://scigraph.springernature.com/pub.10.1007/s11012-010-9400-2

DOI

http://dx.doi.org/10.1007/s11012-010-9400-2

DIMENSIONS

https://app.dimensions.ai/details/publication/pub.1019279400


Indexing Status Check whether this publication has been indexed by Scopus and Web Of Science using the SN Indexing Status Tool
Incoming Citations Browse incoming citations for this publication using opencitations.net

JSON-LD is the canonical representation for SciGraph data.

TIP: You can open this SciGraph record using an external JSON-LD service: JSON-LD Playground Google SDTT

[
  {
    "@context": "https://springernature.github.io/scigraph/jsonld/sgcontext.json", 
    "about": [
      {
        "id": "http://purl.org/au-research/vocabulary/anzsrc-for/2008/0915", 
        "inDefinedTermSet": "http://purl.org/au-research/vocabulary/anzsrc-for/2008/", 
        "name": "Interdisciplinary Engineering", 
        "type": "DefinedTerm"
      }, 
      {
        "id": "http://purl.org/au-research/vocabulary/anzsrc-for/2008/09", 
        "inDefinedTermSet": "http://purl.org/au-research/vocabulary/anzsrc-for/2008/", 
        "name": "Engineering", 
        "type": "DefinedTerm"
      }
    ], 
    "author": [
      {
        "affiliation": {
          "alternateName": "Tokyo Institute of Technology", 
          "id": "https://www.grid.ac/institutes/grid.32197.3e", 
          "name": [
            "Department of Mechanical Sciences and Engineering, Tokyo Institute of Technology, Tokyo, Japan"
          ], 
          "type": "Organization"
        }, 
        "familyName": "Huda", 
        "givenName": "Syamsul", 
        "id": "sg:person.010771726521.62", 
        "sameAs": [
          "https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.010771726521.62"
        ], 
        "type": "Person"
      }, 
      {
        "affiliation": {
          "alternateName": "Tokyo Institute of Technology", 
          "id": "https://www.grid.ac/institutes/grid.32197.3e", 
          "name": [
            "Department of Mechanical Sciences and Engineering, Tokyo Institute of Technology, Tokyo, Japan"
          ], 
          "type": "Organization"
        }, 
        "familyName": "Takeda", 
        "givenName": "Yukio", 
        "id": "sg:person.014027000231.29", 
        "sameAs": [
          "https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.014027000231.29"
        ], 
        "type": "Person"
      }, 
      {
        "affiliation": {
          "alternateName": "Tokyo Institute of Technology", 
          "id": "https://www.grid.ac/institutes/grid.32197.3e", 
          "name": [
            "Department of Mechanical Sciences and Engineering, Tokyo Institute of Technology, Tokyo, Japan"
          ], 
          "type": "Organization"
        }, 
        "familyName": "Hanagasaki", 
        "givenName": "Shuta", 
        "id": "sg:person.012663124434.07", 
        "sameAs": [
          "https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.012663124434.07"
        ], 
        "type": "Person"
      }
    ], 
    "citation": [
      {
        "id": "https://doi.org/10.1299/jsmec.44.180", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1000080189"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "https://doi.org/10.1016/s0094-114x(02)00044-7", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1002421374"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "https://doi.org/10.1299/jamdsm.1.81", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1014952303"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "https://doi.org/10.1016/j.mechmachtheory.2005.10.008", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1019205552"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "https://doi.org/10.1016/s0094-114x(02)00021-6", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1024823759"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "https://doi.org/10.1016/s0094-114x(99)00072-5", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1051001341"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "https://doi.org/10.1016/j.rcim.2005.09.003", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1051104016"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "https://doi.org/10.1109/tra.2003.819603", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1061784312"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "https://doi.org/10.1109/tra.2004.824690", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1061784357"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "https://doi.org/10.1115/1.1867512", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1062075684"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "https://doi.org/10.1115/1.1867512", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1062075684"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "https://doi.org/10.1115/1.2166852", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1062077511"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "https://doi.org/10.1115/1.2166852", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1062077511"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "https://doi.org/10.1115/1.533542", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1062161311"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "https://doi.org/10.20965/jrm.1999.p0404", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1068821859"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "https://doi.org/10.1109/robot.2002.1013408", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1093332229"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "https://doi.org/10.1109/robot.1997.606784", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1093407561"
        ], 
        "type": "CreativeWork"
      }
    ], 
    "datePublished": "2011-02", 
    "datePublishedReg": "2011-02-01", 
    "description": "We present an optimum design of lower-dof parallel mechanism, a 3-URU pure rotational parallel mechanism that reflects issues of workspace and the position error of the center of rotation of the platform. The uncompensatable error determined by position error of center of rotation was used as an evaluation index for the design. The uncompensatable error index, an index used in the optimum design, was proposed taking into account four sources of errors, representing errors between adjacent joints. Based on the application of the mechanism and the error index, the effect of the redundant platform orientation parameter was numerically investigated and the design flow of the mechanism was proposed. We made a kinematic design of a mechanism with a large workspace subject to minimization of platform\u2019s position error of the center of rotation. A prototype of mechanism with a large inclination angle of the platform up to 1.3 rad was shown, and its characteristics are also discussed.", 
    "genre": "research_article", 
    "id": "sg:pub.10.1007/s11012-010-9400-2", 
    "inLanguage": [
      "en"
    ], 
    "isAccessibleForFree": false, 
    "isPartOf": [
      {
        "id": "sg:journal.1030472", 
        "issn": [
          "0025-6455", 
          "1572-9648"
        ], 
        "name": "Meccanica", 
        "type": "Periodical"
      }, 
      {
        "issueNumber": "1", 
        "type": "PublicationIssue"
      }, 
      {
        "type": "PublicationVolume", 
        "volumeNumber": "46"
      }
    ], 
    "name": "Kinematic design of 3-URU pure rotational parallel mechanism to perform precise motion within a large workspace", 
    "pagination": "89-100", 
    "productId": [
      {
        "name": "readcube_id", 
        "type": "PropertyValue", 
        "value": [
          "5bdc17605a802eaf3eb27018cde666db9748f604e3ff052a95b30f260ebc3e39"
        ]
      }, 
      {
        "name": "doi", 
        "type": "PropertyValue", 
        "value": [
          "10.1007/s11012-010-9400-2"
        ]
      }, 
      {
        "name": "dimensions_id", 
        "type": "PropertyValue", 
        "value": [
          "pub.1019279400"
        ]
      }
    ], 
    "sameAs": [
      "https://doi.org/10.1007/s11012-010-9400-2", 
      "https://app.dimensions.ai/details/publication/pub.1019279400"
    ], 
    "sdDataset": "articles", 
    "sdDatePublished": "2019-04-10T19:57", 
    "sdLicense": "https://scigraph.springernature.com/explorer/license/", 
    "sdPublisher": {
      "name": "Springer Nature - SN SciGraph project", 
      "type": "Organization"
    }, 
    "sdSource": "s3://com-uberresearch-data-dimensions-target-20181106-alternative/cleanup/v134/2549eaecd7973599484d7c17b260dba0a4ecb94b/merge/v9/a6c9fde33151104705d4d7ff012ea9563521a3ce/jats-lookup/v90/0000000001_0000000264/records_8681_00000512.jsonl", 
    "type": "ScholarlyArticle", 
    "url": "http://link.springer.com/10.1007%2Fs11012-010-9400-2"
  }
]
 

Download the RDF metadata as:  json-ld nt turtle xml License info

HOW TO GET THIS DATA PROGRAMMATICALLY:

JSON-LD is a popular format for linked data which is fully compatible with JSON.

curl -H 'Accept: application/ld+json' 'https://scigraph.springernature.com/pub.10.1007/s11012-010-9400-2'

N-Triples is a line-based linked data format ideal for batch operations.

curl -H 'Accept: application/n-triples' 'https://scigraph.springernature.com/pub.10.1007/s11012-010-9400-2'

Turtle is a human-readable linked data format.

curl -H 'Accept: text/turtle' 'https://scigraph.springernature.com/pub.10.1007/s11012-010-9400-2'

RDF/XML is a standard XML format for linked data.

curl -H 'Accept: application/rdf+xml' 'https://scigraph.springernature.com/pub.10.1007/s11012-010-9400-2'


 

This table displays all metadata directly associated to this object as RDF triples.

120 TRIPLES      21 PREDICATES      42 URIs      19 LITERALS      7 BLANK NODES

Subject Predicate Object
1 sg:pub.10.1007/s11012-010-9400-2 schema:about anzsrc-for:09
2 anzsrc-for:0915
3 schema:author Nca06a1a00304448280d82cff7cc11668
4 schema:citation https://doi.org/10.1016/j.mechmachtheory.2005.10.008
5 https://doi.org/10.1016/j.rcim.2005.09.003
6 https://doi.org/10.1016/s0094-114x(02)00021-6
7 https://doi.org/10.1016/s0094-114x(02)00044-7
8 https://doi.org/10.1016/s0094-114x(99)00072-5
9 https://doi.org/10.1109/robot.1997.606784
10 https://doi.org/10.1109/robot.2002.1013408
11 https://doi.org/10.1109/tra.2003.819603
12 https://doi.org/10.1109/tra.2004.824690
13 https://doi.org/10.1115/1.1867512
14 https://doi.org/10.1115/1.2166852
15 https://doi.org/10.1115/1.533542
16 https://doi.org/10.1299/jamdsm.1.81
17 https://doi.org/10.1299/jsmec.44.180
18 https://doi.org/10.20965/jrm.1999.p0404
19 schema:datePublished 2011-02
20 schema:datePublishedReg 2011-02-01
21 schema:description We present an optimum design of lower-dof parallel mechanism, a 3-URU pure rotational parallel mechanism that reflects issues of workspace and the position error of the center of rotation of the platform. The uncompensatable error determined by position error of center of rotation was used as an evaluation index for the design. The uncompensatable error index, an index used in the optimum design, was proposed taking into account four sources of errors, representing errors between adjacent joints. Based on the application of the mechanism and the error index, the effect of the redundant platform orientation parameter was numerically investigated and the design flow of the mechanism was proposed. We made a kinematic design of a mechanism with a large workspace subject to minimization of platform’s position error of the center of rotation. A prototype of mechanism with a large inclination angle of the platform up to 1.3 rad was shown, and its characteristics are also discussed.
22 schema:genre research_article
23 schema:inLanguage en
24 schema:isAccessibleForFree false
25 schema:isPartOf N01e8a2c5668849d6bdfe19d997284ef4
26 N64ab193a74294b0189df1fc828f4c777
27 sg:journal.1030472
28 schema:name Kinematic design of 3-URU pure rotational parallel mechanism to perform precise motion within a large workspace
29 schema:pagination 89-100
30 schema:productId N4236cd14b45f40f78c84ca013797e548
31 Nb94cec3664bd4ff8b15ee3e3afae2159
32 Nd8172fddfde340b9a09d82c31c991c8e
33 schema:sameAs https://app.dimensions.ai/details/publication/pub.1019279400
34 https://doi.org/10.1007/s11012-010-9400-2
35 schema:sdDatePublished 2019-04-10T19:57
36 schema:sdLicense https://scigraph.springernature.com/explorer/license/
37 schema:sdPublisher Nfb4a0b92bafe428f8581cd26df9cd312
38 schema:url http://link.springer.com/10.1007%2Fs11012-010-9400-2
39 sgo:license sg:explorer/license/
40 sgo:sdDataset articles
41 rdf:type schema:ScholarlyArticle
42 N01e8a2c5668849d6bdfe19d997284ef4 schema:volumeNumber 46
43 rdf:type schema:PublicationVolume
44 N27c6b6672bf4411aafdde136c1f5b29e rdf:first sg:person.014027000231.29
45 rdf:rest Nbe1118cd68c840a98b59f50c10425e18
46 N4236cd14b45f40f78c84ca013797e548 schema:name doi
47 schema:value 10.1007/s11012-010-9400-2
48 rdf:type schema:PropertyValue
49 N64ab193a74294b0189df1fc828f4c777 schema:issueNumber 1
50 rdf:type schema:PublicationIssue
51 Nb94cec3664bd4ff8b15ee3e3afae2159 schema:name readcube_id
52 schema:value 5bdc17605a802eaf3eb27018cde666db9748f604e3ff052a95b30f260ebc3e39
53 rdf:type schema:PropertyValue
54 Nbe1118cd68c840a98b59f50c10425e18 rdf:first sg:person.012663124434.07
55 rdf:rest rdf:nil
56 Nca06a1a00304448280d82cff7cc11668 rdf:first sg:person.010771726521.62
57 rdf:rest N27c6b6672bf4411aafdde136c1f5b29e
58 Nd8172fddfde340b9a09d82c31c991c8e schema:name dimensions_id
59 schema:value pub.1019279400
60 rdf:type schema:PropertyValue
61 Nfb4a0b92bafe428f8581cd26df9cd312 schema:name Springer Nature - SN SciGraph project
62 rdf:type schema:Organization
63 anzsrc-for:09 schema:inDefinedTermSet anzsrc-for:
64 schema:name Engineering
65 rdf:type schema:DefinedTerm
66 anzsrc-for:0915 schema:inDefinedTermSet anzsrc-for:
67 schema:name Interdisciplinary Engineering
68 rdf:type schema:DefinedTerm
69 sg:journal.1030472 schema:issn 0025-6455
70 1572-9648
71 schema:name Meccanica
72 rdf:type schema:Periodical
73 sg:person.010771726521.62 schema:affiliation https://www.grid.ac/institutes/grid.32197.3e
74 schema:familyName Huda
75 schema:givenName Syamsul
76 schema:sameAs https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.010771726521.62
77 rdf:type schema:Person
78 sg:person.012663124434.07 schema:affiliation https://www.grid.ac/institutes/grid.32197.3e
79 schema:familyName Hanagasaki
80 schema:givenName Shuta
81 schema:sameAs https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.012663124434.07
82 rdf:type schema:Person
83 sg:person.014027000231.29 schema:affiliation https://www.grid.ac/institutes/grid.32197.3e
84 schema:familyName Takeda
85 schema:givenName Yukio
86 schema:sameAs https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.014027000231.29
87 rdf:type schema:Person
88 https://doi.org/10.1016/j.mechmachtheory.2005.10.008 schema:sameAs https://app.dimensions.ai/details/publication/pub.1019205552
89 rdf:type schema:CreativeWork
90 https://doi.org/10.1016/j.rcim.2005.09.003 schema:sameAs https://app.dimensions.ai/details/publication/pub.1051104016
91 rdf:type schema:CreativeWork
92 https://doi.org/10.1016/s0094-114x(02)00021-6 schema:sameAs https://app.dimensions.ai/details/publication/pub.1024823759
93 rdf:type schema:CreativeWork
94 https://doi.org/10.1016/s0094-114x(02)00044-7 schema:sameAs https://app.dimensions.ai/details/publication/pub.1002421374
95 rdf:type schema:CreativeWork
96 https://doi.org/10.1016/s0094-114x(99)00072-5 schema:sameAs https://app.dimensions.ai/details/publication/pub.1051001341
97 rdf:type schema:CreativeWork
98 https://doi.org/10.1109/robot.1997.606784 schema:sameAs https://app.dimensions.ai/details/publication/pub.1093407561
99 rdf:type schema:CreativeWork
100 https://doi.org/10.1109/robot.2002.1013408 schema:sameAs https://app.dimensions.ai/details/publication/pub.1093332229
101 rdf:type schema:CreativeWork
102 https://doi.org/10.1109/tra.2003.819603 schema:sameAs https://app.dimensions.ai/details/publication/pub.1061784312
103 rdf:type schema:CreativeWork
104 https://doi.org/10.1109/tra.2004.824690 schema:sameAs https://app.dimensions.ai/details/publication/pub.1061784357
105 rdf:type schema:CreativeWork
106 https://doi.org/10.1115/1.1867512 schema:sameAs https://app.dimensions.ai/details/publication/pub.1062075684
107 rdf:type schema:CreativeWork
108 https://doi.org/10.1115/1.2166852 schema:sameAs https://app.dimensions.ai/details/publication/pub.1062077511
109 rdf:type schema:CreativeWork
110 https://doi.org/10.1115/1.533542 schema:sameAs https://app.dimensions.ai/details/publication/pub.1062161311
111 rdf:type schema:CreativeWork
112 https://doi.org/10.1299/jamdsm.1.81 schema:sameAs https://app.dimensions.ai/details/publication/pub.1014952303
113 rdf:type schema:CreativeWork
114 https://doi.org/10.1299/jsmec.44.180 schema:sameAs https://app.dimensions.ai/details/publication/pub.1000080189
115 rdf:type schema:CreativeWork
116 https://doi.org/10.20965/jrm.1999.p0404 schema:sameAs https://app.dimensions.ai/details/publication/pub.1068821859
117 rdf:type schema:CreativeWork
118 https://www.grid.ac/institutes/grid.32197.3e schema:alternateName Tokyo Institute of Technology
119 schema:name Department of Mechanical Sciences and Engineering, Tokyo Institute of Technology, Tokyo, Japan
120 rdf:type schema:Organization
 




Preview window. Press ESC to close (or click here)


...