{"entities":{"Q1699584":{"pageid":1710325,"ns":120,"title":"Item:Q1699584","lastrevid":53029586,"modified":"2026-01-24T02:04:39Z","type":"item","id":"Q1699584","labels":{"en":{"language":"en","value":"Dynamic modeling and base inertial parameters determination of a 2-DOF spherical parallel mechanism"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 6842992"}},"aliases":{},"claims":{"P31":[{"mainsnak":{"snaktype":"value","property":"P31","hash":"fd5912e4dab4b881a8eb0eb27e7893fef55176ad","datavalue":{"value":{"entity-type":"item","numeric-id":56887,"id":"Q56887"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1699584$D354B5CE-4C18-4435-82E7-CF55F1B9D7E2","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"8cbfc0c420026a5c9f7c406ccf864101640c3560","datavalue":{"value":{"text":"Dynamic modeling and base inertial parameters determination of a 2-DOF spherical parallel mechanism","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q1699584$1CF54B4B-A5E8-4376-83C7-7748BD028026","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"a1d77d639a97eefaf83c11fdb63b63377c286e8e","datavalue":{"value":"1418.70014","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1699584$F540CA88-8736-4604-8F63-B726D7DB5F8A","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"f5820321f5775aff5db031dd93bd004497036beb","datavalue":{"value":{"entity-type":"item","numeric-id":1699582,"id":"Q1699582"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1699584$F089858F-2CEE-492D-AC8A-BCF92385F1B4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"87e2f4d6f744eaecc5e646ca7c40a621cee6d956","datavalue":{"value":{"entity-type":"item","numeric-id":1699583,"id":"Q1699583"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1699584$6C2B8F01-6B29-4B1E-B935-89D256460F05","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"8c81c78be43bdf8aefd443d85920aa0821b5f9ca","datavalue":{"value":{"entity-type":"item","numeric-id":553644,"id":"Q553644"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1699584$3F9A8ADB-4A75-49A1-9354-92E78F64F743","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"00cec32a83c0830634f98540067f24b694f3d91d","datavalue":{"value":{"entity-type":"item","numeric-id":1640736,"id":"Q1640736"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1699584$BEC58955-0FA2-44A0-AEA8-3433C4246621","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"adaede4d30d80731f86904b0d235817d0564cc04","datavalue":{"value":{"entity-type":"item","numeric-id":174757,"id":"Q174757"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1699584$B877EC71-A331-48B1-BB22-B42A23AF9342","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"44c8d8792d4e1b2a769791b541a37bbfc88219ec","datavalue":{"value":{"time":"+2018-02-23T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q1699584$33010990-EEEC-4B53-824E-A541B2A8549C","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"c5408ffa34731028dac8aa7abec8a3b9626903f0","datavalue":{"value":"70E60","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1699584$8F1D5CA7-2B96-4F9B-BBB9-2F5BDFC64233","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"3c9759ba1beabf7a5237e2e05cc9f021be9a23e5","datavalue":{"value":"70B15","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1699584$71995107-3934-4571-ABE1-762ED3E28434","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"53f3ea80944ea6cfed1088b2b6dc63e2dd40520c","datavalue":{"value":"6842992","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1699584$D83A0832-AD44-4C06-86B5-82005880C566","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"0129f485e1a00d05177185256359fee91d402a36","datavalue":{"value":"spherical parallel manipulator","type":"string"},"datatype":"string"},"type":"statement","id":"Q1699584$DAA23E06-DAFD-48DF-863C-5BE64BE8F47F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"9d94357a39c8e2405c4a08050748d657c3a301a8","datavalue":{"value":"kinematics","type":"string"},"datatype":"string"},"type":"statement","id":"Q1699584$7DE07719-1E2C-4C25-AC9F-F6E036F7F908","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"2edfadbaf67367fe986c818848f6c0d3f1571ff3","datavalue":{"value":"screw theory","type":"string"},"datatype":"string"},"type":"statement","id":"Q1699584$2EA740F0-6A2D-4036-92D8-44E11AA831E4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"b5b4c71bf3b933ebeabf7dfb4b936b9cdcea0a6a","datavalue":{"value":"dynamic model","type":"string"},"datatype":"string"},"type":"statement","id":"Q1699584$4C3302E3-39AC-4541-8131-DC202C55B77F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"be5490a5f334018fcc53797c403408f3a09d33a1","datavalue":{"value":"base inertial parameters","type":"string"},"datatype":"string"},"type":"statement","id":"Q1699584$2E9280F6-A0E0-40C4-857F-A53FBA72FD0F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"da73046a486d15d36468a3e54545e956bb90cf28","datavalue":{"value":"identification","type":"string"},"datatype":"string"},"type":"statement","id":"Q1699584$6D19CE74-3F5F-4F17-AB7E-E1B8800F2922","rank":"normal"}],"P1460":[{"mainsnak":{"snaktype":"value","property":"P1460","hash":"57f7fea50d2ce1b39b695c4a1313582eed405e38","datavalue":{"value":{"entity-type":"item","numeric-id":5976449,"id":"Q5976449"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1699584$49C6C998-1100-40A9-8765-FA77F25A8C3C","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"c06c895b4eaa2240eb5ebba005886c15dd46ee70","datavalue":{"value":"https://doi.org/10.1007/s11044-017-9578-3","type":"string"},"datatype":"url"},"type":"statement","id":"Q1699584$DF812F68-868A-4302-B841-CDBCA56DA1E4","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"52370bf9fa0782dcc35af28c068f4b48af439985","datavalue":{"value":"W2622083642","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1699584$7047D574-477A-4CC4-8A71-A4176DA6435F","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"5e6ddc6e4202e34b9d30203ac7c0ccf980ddb883","datavalue":{"value":{"entity-type":"item","numeric-id":1301166,"id":"Q1301166"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1699584$FF77C7E0-DE74-4CE9-A4DA-463F7C961AA6","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"5cc0a65ca9eb0db8d1b43e85c99c3aad6f5a6d01","datavalue":{"value":{"entity-type":"item","numeric-id":3350865,"id":"Q3350865"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1699584$6E4CD0F9-8096-4E71-B505-3AFE8F4CEDD6","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"748dc83bcdcc02a82a3d5c71d30ebd9a1f802ffd","datavalue":{"value":{"entity-type":"item","numeric-id":1880807,"id":"Q1880807"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1699584$F92F93B3-5479-4419-859B-C227CDD8A56A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"600da9f7ab63d60c3aa4d3d186812b97f006f070","datavalue":{"value":{"entity-type":"item","numeric-id":2269106,"id":"Q2269106"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1699584$8088DAD5-F337-430E-9D44-03458D19792C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"234d8dc1507d4df11307b55531de2441707d71dd","datavalue":{"value":{"entity-type":"item","numeric-id":1301494,"id":"Q1301494"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1699584$9C05F48B-69A2-4877-9F56-41241A45CFCB","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"2de96aff4e206449299fd0e5271a2952674399de","datavalue":{"value":{"entity-type":"item","numeric-id":4698181,"id":"Q4698181"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1699584$FCEA8C06-C2F5-4AD3-B982-115CC8441117","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"a3b7147be327d7929907a4293d24d801cb95b2e7","datavalue":{"value":{"entity-type":"item","numeric-id":4203605,"id":"Q4203605"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1699584$AD004647-7BD2-451B-B635-C3F85BE54401","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"d7d7f826c971a4920e6c33470461259b200c1305","datavalue":{"value":{"entity-type":"item","numeric-id":3123422,"id":"Q3123422"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1699584$462EC60F-5AE7-4C8F-B6CF-405F55288ACC","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"7d90661b85ef45870550c9d669c3e26f1edef7d6","datavalue":{"value":{"entity-type":"item","numeric-id":3826143,"id":"Q3826143"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1699584$393982BC-5345-4C11-A499-DD184ECE6FDC","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"e6a7dbe4b87f8fcce1c6f63c1713e37e6aa63490","datavalue":{"value":{"entity-type":"item","numeric-id":1701262,"id":"Q1701262"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1699584$30895E40-0603-446B-8CEE-A1A8A5EDEB98","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"2387529067fb0d7d45d0de5dbfd22c9772167ede","datavalue":{"value":{"entity-type":"item","numeric-id":1286725,"id":"Q1286725"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1699584$01F6EBBB-FF77-41BE-B88F-84AF54EAE96D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"a8dcb1991c73754cf19caf697152b7d94d03cf81","datavalue":{"value":{"entity-type":"item","numeric-id":1658570,"id":"Q1658570"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1699584$3D4D9707-879E-431D-93BA-4ED1071386B8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"23e1fe88cf963bc0bd4ad1610a1f5053ba17c6b1","datavalue":{"value":{"entity-type":"item","numeric-id":498174,"id":"Q498174"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1699584$F180A484-488E-48BB-B585-1D1B530BC556","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"34652b80a3c0227aaa62f82454075da30da55d1d","datavalue":{"value":{"entity-type":"item","numeric-id":596531,"id":"Q596531"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1699584$5129606F-518B-4A35-A27F-F71644E3D3DE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"bd0ffeae1bdb7b7947ea0eb522130b0b2c9afc5c","datavalue":{"value":{"entity-type":"item","numeric-id":994103,"id":"Q994103"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1699584$ECDE317E-2D9C-4F79-8471-3488921601D7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"de1747a5d7c3c2080f7d6642a4066debbe181231","datavalue":{"value":{"entity-type":"item","numeric-id":1286742,"id":"Q1286742"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1699584$42D18CCB-22D5-4519-95CC-05CD5AF02640","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"9a85f258608058ababbfac1f94c7c914ecfb13b2","datavalue":{"value":{"entity-type":"item","numeric-id":4389456,"id":"Q4389456"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1699584$DD5D1CF5-69E8-49DB-93AD-92F251F87C6B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"b87acc9f2ee389a5eeea7359d5c59d8e3f766ec7","datavalue":{"value":{"entity-type":"item","numeric-id":994192,"id":"Q994192"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1699584$CBB20DB7-DF04-41A2-857F-0695CC2A9513","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"a01d6e8840424b75d2c5fb0e84592228a7b6c6d5","datavalue":{"value":{"entity-type":"item","numeric-id":3058348,"id":"Q3058348"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1699584$04E5132D-5737-4E0F-9037-4478B8EFF949","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"8778abfd817b78392065a2f5ff20839f6c7afd3f","datavalue":{"value":"10.1007/S11044-017-9578-3","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1699584$8CA5BBE9-B0B0-44A2-A144-3C89F50F606E","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"159fc562bc302d4a75b8eeca31ea0f256ef45ab5","datavalue":{"value":{"entity-type":"item","numeric-id":928289,"id":"Q928289"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"a449ea182a2257386a6be9c95716fa221d900285","datavalue":{"value":{"amount":"+0.7897757291793823","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1699584$0F4F71EF-016D-4C91-895A-DB5052ED6F14","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"4bc0754bc2fd4b66f22192231744a1a7fbf2b853","datavalue":{"value":{"entity-type":"item","numeric-id":1701262,"id":"Q1701262"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"58701079a9e34a84f20317b24a3980f7ef7aef1e","datavalue":{"value":{"amount":"+0.7644279599189758","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1699584$5008E82C-7B42-4AC1-93AE-65BA1369C613","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"e276a7e9abd25190c26421884bd2a5faf7324abc","datavalue":{"value":{"entity-type":"item","numeric-id":1306132,"id":"Q1306132"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"4691c0d4f0d62eaa17c3a0d5ac19600284784171","datavalue":{"value":{"amount":"+0.7328782677650452","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1699584$6E73F963-0059-4280-A3F8-0B6756EE2ABF","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"40f4a2dc87c00a3041f72d9e6caea51c22d4dbbb","datavalue":{"value":{"entity-type":"item","numeric-id":2463579,"id":"Q2463579"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"8c04c8a164b1fb126b39c6dcf8defb458557ae48","datavalue":{"value":{"amount":"+0.7298631072044373","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1699584$2C561C4C-8C7C-4D96-B961-155198BEA4BE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"43ad285ae51e78977b997a63c82a3ebabec5a9c3","datavalue":{"value":{"entity-type":"item","numeric-id":623908,"id":"Q623908"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"90634b13224e5660690393acdd6831b148a60642","datavalue":{"value":{"amount":"+0.7279074192047119","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1699584$E9AAC019-648E-49C4-808B-8F4E72273AFD","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:1699584","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Publication:1699584"}}}}}