{"entities":{"Q2381676":{"pageid":2392419,"ns":120,"title":"Item:Q2381676","lastrevid":50167250,"modified":"2026-01-13T08:24:22Z","type":"item","id":"Q2381676","labels":{"en":{"language":"en","value":"Optimizing fault tolerance to joint jam in the design of parallel robot manipulators"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 5191772"}},"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":"Q2381676$5852A6CE-E49D-4D14-A8D4-D16CF0F5C2DA","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"d276334b23acfa2a87917a552d6dc8bf17493aa4","datavalue":{"value":{"text":"Optimizing fault tolerance to joint jam in the design of parallel robot manipulators","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q2381676$DF3CA58B-8269-4F4C-96FA-81A0C7800A9D","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"bf73b72b0eef38a4adada15adf79f8a0c6344204","datavalue":{"value":"1188.70018","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2381676$992FCE1B-15D1-498C-A988-802235E061EA","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"4f81e5dc3865119ade05b2175ad0f6e5988a6300","datavalue":{"value":{"entity-type":"item","numeric-id":1779754,"id":"Q1779754"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2381676$06488771-C26E-4DB9-960F-597025D7AB71","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"248fbbc44555dad8b01891d7914d6c0d04e37180","datavalue":{"value":{"entity-type":"item","numeric-id":553578,"id":"Q553578"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2381676$357E180E-6DD2-49D7-9AAE-F714EDCC61C4","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"b54abea66bedd9716daf14bcb7a3f7fc0416c247","datavalue":{"value":{"entity-type":"item","numeric-id":129633,"id":"Q129633"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2381676$8C19CEB5-F467-4121-A1BC-2852A86290E0","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"3427f56d08c951df09e6b7c5aba2137c7bb94a11","datavalue":{"value":{"time":"+2007-09-18T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q2381676$167EADFD-6E86-4A0F-BEA2-9D54B09E0BE5","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"3c9759ba1beabf7a5237e2e05cc9f021be9a23e5","datavalue":{"value":"70B15","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2381676$180F1DF7-43C5-4B78-A27B-854F8AB5A97E","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"ec5fb0323a0759e87ebf597efb76ff4e6bdc37b0","datavalue":{"value":"5191772","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2381676$F7278DB6-92FB-4DA8-8407-0D248DAAD94B","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"3843d8e16a6098d948b9a5217c87a673b386a5a6","datavalue":{"value":"Parallel robot manipulators","type":"string"},"datatype":"string"},"type":"statement","id":"Q2381676$DC260614-DA99-43CD-95C4-900A4BD7D906","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"0676c3ec68e5f2b4b58de3041ef85f2f25070214","datavalue":{"value":"Mechanisms","type":"string"},"datatype":"string"},"type":"statement","id":"Q2381676$BAD31EF0-C01F-448F-A372-9A7A81B546BF","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"45cb6a0fde038d0cf12c5453c793f515e2cced5e","datavalue":{"value":"Joint jam (lock)","type":"string"},"datatype":"string"},"type":"statement","id":"Q2381676$1E3A23D2-4311-404F-ADC3-B2AEA52CF60D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"afaae26f18b4f20e4cc9e57269f0a35030e3016b","datavalue":{"value":"Failure","type":"string"},"datatype":"string"},"type":"statement","id":"Q2381676$0CCC562B-1F54-49CD-A226-00463D2ACEBA","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"4660b58f251ae92588839474f58b77835b34bcd2","datavalue":{"value":"Fault tolerance","type":"string"},"datatype":"string"},"type":"statement","id":"Q2381676$581656C6-92B7-419C-80BC-612EAABFB57C","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":"Q2381676$498696EC-FE7D-4B1B-B5AF-09A90BC1CD31","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"a9c0ee23665dbb6028a06cc5896f916723139971","datavalue":{"value":"https://doi.org/10.1016/j.mechmachtheory.2006.10.001","type":"string"},"datatype":"url"},"type":"statement","id":"Q2381676$37F35AF4-50AA-4092-BD5A-007DD64427DD","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"ac6390bccf2fc4068f7a7570babe59932a776e45","datavalue":{"value":"W2038886020","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2381676$C25F15DB-FEA2-49C5-B271-4ECBFBDF8821","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"4a72ffb9b141b77c7f555d2176a974af4f90396f","datavalue":{"value":"10.1016/J.MECHMACHTHEORY.2006.10.001","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2381676$B1C41D5F-B6B0-4BF9-AAB5-EE1531D0DEAC","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"2f39d9aec809b899aca7bc285cdbf231ad069acf","datavalue":{"value":{"entity-type":"item","numeric-id":1779755,"id":"Q1779755"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"a3802c29796c93cb4614f326dd887bb6a347cc4c","datavalue":{"value":{"amount":"+0.9139712452888488","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2381676$F9CD5C4C-4AAC-4680-B62A-43C7979CCB16","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"02343ab41b9c2be4e7a66cb2dd732965266b03f3","datavalue":{"value":{"entity-type":"item","numeric-id":1854202,"id":"Q1854202"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"422e38c0f0e5326c244c65e443c932568dedc9de","datavalue":{"value":{"amount":"+0.8549792170524597","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":"Q2381676$DF096C62-0592-4863-B9C8-EBCEA4111AE1","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"e5334ebedda38aadd0ea465014c5f61027aa715d","datavalue":{"value":{"entity-type":"item","numeric-id":4347319,"id":"Q4347319"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"a28991090fbb6d43f1df66c8e06250a6887adf14","datavalue":{"value":{"amount":"+0.7836924195289612","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":"Q2381676$2092573A-BAB5-47EF-96A8-CEAFAD9DB90D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"c0cf3ff1f543fad8ffba45f68e4f730bf6328eac","datavalue":{"value":{"entity-type":"item","numeric-id":4498155,"id":"Q4498155"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"6dd1847a7406b845d1ec95b9f9d0a280139306cc","datavalue":{"value":{"amount":"+0.7730083465576172","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2381676$B0D23469-5BF3-48EE-9A01-5BDA92F3AC81","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"f3a9603b80623be72ee41e6724079cc6cb63f180","datavalue":{"value":{"entity-type":"item","numeric-id":4847332,"id":"Q4847332"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"f28317b4ce179607359bf6f1fe0ca875bdbe1c38","datavalue":{"value":{"amount":"+0.7676165699958801","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":"Q2381676$FE0C093E-FFB7-4D20-8B66-06040963A880","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:2381676","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Publication:2381676"}}}}}